This paper is concerned with rigid formations of mobile autonomous agents using a leader-follower structure. A formation is a group of agents moving in real 2or 3dimensional space. A formation is called rigid if the distance between each pair of agents does not change over time under ideal conditions. Sensing/communication links between agents are used to maintain a rigid formation. Two agents ...

This paper presents a method for control of formations of Unmanned Aerial Vehicles (UAVs) in urban environments with several obstacles. Therefore the trajectories for each UAV are planned using mixed integer quadratic programming (MIQP) to describe a minimization problem. The result of this minimization problem then characterizes a collision free trajectory for each UAV using the commanded form...

In this paper, we analyze tactical conflicts between attacking formations and blocking formations in the phase of reception attack in volleyball, using a zerosum game model. In this model, we categorize the attacking formations into 9 patterns which consist of 3 moving patterns of forward players and 3 positions (right, center and left) from which the ball can be spiked. We also categorize the ...

This Account outlines the recent efforts of developing catalysis under the ambient conditions of air and water for synthetic purposes from the author's laboratory. The discussions are focused on catalytic reactions (mostly C-C bond formations) other than oxidations via late transition metals. It includes the following aspects: (1) copper-catalyzed C-C bond formations; (2) palladium-catalyzed C-...

Given a pair of keyframe formations for a group consisting of multiple individuals, we present a spectral-based approach to smoothly transforming a source group formation into a target formation while respecting the clusters of the involved individuals. The proposed method provides an effective means for controlling the macroscopic spatiotemporal arrangement of individuals for applications such...