Formation Control via Rotation Symmetry Constraints
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866917332340703232 |
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| author | Martinez, Zamir Zelazo, Daniel |
| author_facet | Martinez, Zamir Zelazo, Daniel |
| contents | This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient defines a control law that drives the agents toward a desired planar symmetric configuration. We show that only $n-1$ edges (the minimal connectivity requirement) are sufficient to implement the strategy, where $n$ is the number of agents. We further augment the design to address the \textbf{maneuvering problem}, enabling the formation to undergo coordinated translations, rotations, and scaling along a predefined virtual trajectory. Simulation examples are provided to validate the effectiveness of the proposed method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_00676 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Formation Control via Rotation Symmetry Constraints Martinez, Zamir Zelazo, Daniel Systems and Control This work introduces a distributed formation control strategy for multi-agent systems based solely on rotation symmetry constraints. We propose a potential function that enforces inter-agent \textbf{rotational} symmetries, whose gradient defines a control law that drives the agents toward a desired planar symmetric configuration. We show that only $n-1$ edges (the minimal connectivity requirement) are sufficient to implement the strategy, where $n$ is the number of agents. We further augment the design to address the \textbf{maneuvering problem}, enabling the formation to undergo coordinated translations, rotations, and scaling along a predefined virtual trajectory. Simulation examples are provided to validate the effectiveness of the proposed method. |
| title | Formation Control via Rotation Symmetry Constraints |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2510.00676 |