Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Global Stabilization of Triangulated Formations   Formation control deals with the design of decentralized control laws that
stabilize mobile, autonomous agents at prescribed distances from each other. We
call any configuration of the agents a target configuration if it satisfies the
inter-agent distance conditions. It is well known that when the distance
conditions are defined by a rigid graph, there is a finite number of target
configurations modulo rotations and translations of the entire formation. We
can thus recast the objective of formation control as stabilizing one or many
of the target configurations. A major issue is that such control laws will also
have equilibria corresponding to configurations which do not meet the desired
inter-agent distance conditions; we refer to these as undesirable
configurations. The undesirable configurations become problematic if they are
also stable. Designing decentralized control laws whose stable equilibria are
all target configurations in the case of a general rigid graph is still an open
problem. We provide here a new point of view on this problem, and propose a
partial solution by exhibiting a class of rigid graphs and control laws for
which all stable equilibria are target configurations.

20
The categories of this paper are: acc-phys
6
The categories of this paper are: astro-ph
8
The categories of this paper are: hep-ex
12
The categories of this paper are: nucl-th
1
The categories of this paper are: cs
23
The categories of this paper are: solv-int
7
The categories of this paper are: hep-th
33
The categories of this paper are: plasm-ph
18
The categories of this paper are: econ
11
The categories of this paper are: hep-lat
26
The categories of this paper are: bayes-an
31
The categories of this paper are: ao-sci
17
The categories of this paper are: q-fin
4
The categories of this paper are: cond-mat
25
The categories of this paper are: patt-sol
29
The categories of this paper are: funct-an