Control of Minimally Persistent Formations in the Plane

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Distributed Formation Control of Multi-Agent Systems Using Complex Laplacian (2014, background): “The former mainly concentrates on defining a formation using graph-theoretic rigidity [4], [16], [17], [22], [33], [40], while the latter concerns stabilization to a formation [7], [8], [10], [24], [32], [38], [39] and control of formation shape in moving [3], [5], [12]–[14], [20].”
Distributed Control of Robotic Networks (2009, background): “, 2005), formation control using rigidity and persistence theory (Olfati-Saber and Murray, 2002; Baillieul and Suri, 2003; Hendrickx et al., 2007; Krick, 2007; Yu et al., 2009), formation stability (Tanner et al.”
Finite Time Distance-based Rigid Formation Stabilization and Flocking (2014, background): “Formation control of networked multi-agent systems has received considerable attention in recent years due to its extensive applications, the underlying objective of which is to maintain a pre-specified geometric shape for a group of agents Anderson et al. (2007),Yu et al. (2009).”