On the Stabilization of Rigid Formations on Regular Curves
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866918244437196800 |
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| author | Elobaid, Mohamed Park, Shinkyu Feron, Eric |
| author_facet | Elobaid, Mohamed Park, Shinkyu Feron, Eric |
| contents | This work deals with the problem of stabilizing a multi-agent rigid formation on a general class of planar curves. Namely, we seek to stabilize an equilateral polygonal formation on closed planar differentiable curves after a path sweep. The task of finding an inscribed regular polygon centered at the point of interest is solved via a randomized multi-start Newton-Like algorithm for which one is able to ascertain the existence of a minimizer. Then we design a continuous feedback law that guarantees convergence to, and sufficient sweeping of the curve, followed by convergence to the desired formation vertices while ensuring inter-agent avoidance. The proposed approach is validated through numerical simulations for different classes of curves and different rigid formations. Code: https://github.com/mebbaid/paper-elobaid-ifacwc-2026 |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2512_10700 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | On the Stabilization of Rigid Formations on Regular Curves Elobaid, Mohamed Park, Shinkyu Feron, Eric Robotics This work deals with the problem of stabilizing a multi-agent rigid formation on a general class of planar curves. Namely, we seek to stabilize an equilateral polygonal formation on closed planar differentiable curves after a path sweep. The task of finding an inscribed regular polygon centered at the point of interest is solved via a randomized multi-start Newton-Like algorithm for which one is able to ascertain the existence of a minimizer. Then we design a continuous feedback law that guarantees convergence to, and sufficient sweeping of the curve, followed by convergence to the desired formation vertices while ensuring inter-agent avoidance. The proposed approach is validated through numerical simulations for different classes of curves and different rigid formations. Code: https://github.com/mebbaid/paper-elobaid-ifacwc-2026 |
| title | On the Stabilization of Rigid Formations on Regular Curves |
| topic | Robotics |
| url | https://arxiv.org/abs/2512.10700 |