Formation control with triangulated Laman graphs

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Formation control deals with the design of decentralized control laws that stabilize agents at prescribed distances from each other. We call any configuration a target configuration if it satisfies the inter-agent distance conditions. It is well known that when the distance conditions are defined via a rigid graph, there is a finite number of target configurations modulo rotations and translations. We can thus recast the objective of formation control as stabilizing one or many of the target configurations. A major issue is that such control laws will also have equilibria corresponding to configurations which do not meet the desired inter-agent distance conditions; we refer to these as undesired equilibria. The undesired equilibria become problematic if they are also stable. Designing decentralized control laws whose stable equilibria are all target configurations in the case of a general rigid graph is still an open problem. We provide here new approaches to this problem, and propose a partial solution by exhibiting a class of rigid graphs and control laws for which all stable equilibria are target configurations.

Original languageEnglish (US)
Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781479978861
StatePublished - Feb 8 2015
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Other54th IEEE Conference on Decision and Control, CDC 2015

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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