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...

Conglomerate formation, where enantiomers within a racemic mixture self-segregate upon crystallization, is an advantageous property for obtaining chirally pure crystals and allows large-scale chiral resolution. However, the prevalence of conglomerates low difficult to predict. In this report, we describe our attempts engineer from racemate-forming compounds by integrating them into conglomerate...

In this paper, we provide a graph theoretical framework that allows us to formally define formations of multiple vehicles and the issues arising in graph realizations and unicity and their connections to stability of formations. The notion of graph rigidity is crucial in identifying the shape variables of a formation. This eventually leads to tools for formation stabilization, tacking, and form...

one of the popular ways of taking advantage of personnel creativity is through suggestion systems. our main question is how to implement suggestion system in holding with conglomerate structure. the paper presents an innovative model that were named itfsk model with accordance of bonayade taavone (a holding that has many companies and institutions with conglomerate structure). itfsk is a model ...

Michigan's first commercial oil field was discovered at Port Huron, St. Clair County, in 1886. By 1910, 21 shallow wells had been completed in the Dundee formation at depths of about 500 to 650 feet. In 1910 the daily production from this field amounted to about 10 barrels of oil per day, all of which was used locally in the manufacture of lubricants. However, it was not until 1925 when the Sag...

We study the problem of achieving global behavior in a group of distributed robots using only local sensing and minimal communication, in the context of formations. The goal is to have N mobile robots establish and maintain some predetermined geometric shape. We report results from extensive simulation experiments, and 40+ experiments with four physical robots, showing the viability of our appr...

A set of structural cohesiveness issues raised in control of autonomous multi-vehicle formations is analysed, using a recently developed theoretical framework of graph rigidity and persistence. The general characteristics of rigid and persistent formations and some operational criteria to check the rigidity and persistence of a given formation from the aspect of their use in cohesive motion of ...