Robustness issues with undirected formations

A. Belabbas, S. Mou, A. S. Morse, B. D.O. Anderson

Research output: Contribution to journalConference articlepeer-review


It is shown for any rigidity-based, undirected triangular formation of the type studied in [1], that if neighboring agents in the formation have slightly different understandings of what the desired distance between them is suppose to be, then almost for certain, the trajectory of the resulting distorted but rigid formation will converge exponentially fast to a closed orbit in 2 which is traversed periodically at a single sinusoidal frequency.

Original languageEnglish (US)
Article number6426284
Pages (from-to)1445-1450
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2012
Event51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States
Duration: Dec 10 2012Dec 13 2012

ASJC Scopus subject areas

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


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