2026-06-01T07:22:45Zhttps://docta.ucm.es/rest/oai/requestoai:docta.ucm.es:20.500.14352/1298102026-01-10T00:46:28Zcom_20.500.14352_14col_20.500.14352_20
Leaderless collective motions in affine formation control
García De Marina Peinado, Héctor Jesús
Jiménez Castellanos, Juan Francisco
Yao, Weijia
004
Laplace equations
Shape
Conferences
Numerical simulation
Stability analysis
Steady-state
Shearing
Informática (Informática)
33 Ciencias Tecnológicas
This paper proposes a novel distributed technique to induce collective motions in affine formation control. Instead of the traditional leader-follower strategy, we propose modifying the original weights that build the Laplacian matrix so that a designed steady-state motion of the desired shape emerges from the agents' local interactions. The proposed technique allows a rich collection of collective motions such as rotations around the centroid, translations, scalings, and shearings of a reference shape. These motions can be applied in useful collective behaviors such as shaped consensus (the rendezvous with a particular shape), escorting one of the team agents, or area coverage. We prove the global stability and effectiveness of our proposed technique rigorously, and we provide some illustrative numerical simulations.
Comunidad de Madrid
Ministerio de Ciencia, Innovación y Universidades (España)
Agencia Estatal de Investigación (España)
European Commission
Depto. de Arquitectura de Computadores y Automática
Fac. de Ciencias Físicas
TRUE
pub
2026-01-09T19:27:30Z
2026-01-09T19:27:30Z
2021
conference paper
AO
https://hdl.handle.net/20.500.14352/129810
0743-1546
10.1109/CDC45484.2021.9682800
2576-2370
eng
2019-T2/TIC-13503
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/RTI2018-098962-B-C21/ES/MONITORIZACION AUTOMATICA DE CONTAMINANTES EN AGUAS EMBALSADAS UTILIZANDO BIOSENSORES Y VEHICULOS AUTONOMOS DE SUPERFICIE/
H. G. de Marina, J. Jimenez Castellanos and W. Yao, "Leaderless collective motions in affine formation control," 2021 60th IEEE Conference on Decision and Control (CDC), Austin, TX, USA, 2021, pp. 6433-6438, doi: 10.1109/CDC45484.2021.9682800.
open access
application/pdf