This paper considers formation shape control of a team of four point agents, for the most part in the plane. Control laws based on specified interagent distances are used. For a complete graph, specification of all interagent distances determines the formation shape uniquely. Krick, Broucke and Francis showed that for a now almost standard control law, there may exist equilibrium formation shap...

Simulating fluid flow in geological formations requires mesh generation, lithology mapping to the cells, and computing geometric properties such as normal vectors and volume of cells. The purpose of this research work is to compute and process the geometrical information required for performing numerical simulations in geological formations. We present algebraic techniques, named Transfinite In...

This paper examines the problem of relative attitude observability for formations of three, four and five vehicle formations. The analysis is rooted in within the principles of maximum likelihood estimation insomuch as the metric for observability is the resulting Fisher information matrix for the small attitude errors. For formations of three and four vehicles it is shown that the relative att...

ADSlraCI: 1rns paper aoaresses roDUSIcomroi OJ mumpre mobile robots moving in desired formations. A rigorous control technique for such an agent-based robotic system may encounter problems of singularity, parameter sensitivity and inter-robot collision. Our proposed approach focuses on the enhancement of robustness as well as collision-free establishment of formations even in the case of singul...