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In this work we analyze the controllability and observability properties of several interconnection configurations such as the chain topology and cyclic topology as well as combinations of these two topologies. A leader/follower control strategy is proposed to control the center of mass of the multiple agent system. It is shown that the trajectory tracking for a multi-agent system converges to the...
We study the problem of motion coordination of multiple agents, under a graph connectivity constraint. We develop a framework for the problem based on partial ordering of graphs and embedding of constraint sets and identify a certain convexity property of the constraint set induced by the graph connectivity constraint. This property is used to solve two instances of the coordination problem. In the...
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