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This paper shows that the modified gradient control law proposed in Tian and Wang (2013) does not globally stabilize rigid formation shapes. Also, further analysis on the control law and a numerical example showing that the control law cannot drive the agents out from a stable incorrect equilibrium of the corresponding gradient control system are provided.
This paper proposes a modified gradient control law to solve the Fermat–Weber location problem. The control law may guide an autonomous agent to the point that minimizes the weighted sum distance with regard to some stationary beacons using only bearing measurements. Based on previous results from Fermat–Weber location problem and Lyapunov stability theory, we prove that the agent will globally asymptotically...
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