@inproceedings{d8534ba9b14e4ae0893ec03aa631ed8a,
title = "Reliable control of multi-agent formations",
abstract = "In this paper we address the problem of reliably teleoperating a group of remotely located robotic agents. The human operator provides a desired position that the formation should converge to and gets feedback on the location of the center-of-mass of the formation through a locally installed master system. We prove that this architecture is input-to-state stable and exploit this property to guarantee stability of the overall formation under communication unreliability such as time-varying delays and quantization. We provide a numerical simulation that illustrates our theoretical analysis.",
author = "Hokayem, {Peter F.} and Du{\v s}an Stipanovi{\'c} and Spong, {Mark W.}",
year = "2007",
doi = "10.1109/ACC.2007.4282588",
language = "English (US)",
isbn = "1424409888",
series = "Proceedings of the American Control Conference",
pages = "1882--1887",
booktitle = "Proceedings of the 2007 American Control Conference, ACC",
note = "2007 American Control Conference, ACC ; Conference date: 09-07-2007 Through 13-07-2007",
}