Formation Control and Rigidity Theory

Snapshots of modern mathematics from Oberwolfach

Formation Control and Rigidity Theory

Formation control is one of the fundamental coordination tasks for teams of autonomous vehicles. Autonomous formations are used in applications ranging from search-and-rescue operations to deep space exploration, with benefits including increased robustness to failures and risk mitigation for human operators. The challenge of formation control is to develop distributed control strategies using vehicle on-board sensing that ensures the desired formation is obtained. This snapshot describes how the mathematical theory of rigidity has emerged as an important tool in the study of formation control problems.

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Mathematical subjects

Discrete Mathematics and Foundations

Connections to other fields

Engineering and Technology


Daniel Zelazo, Shiyu Zhao


DOI (Digital Object Identifier)


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snapshots: overview

Mathematical subjects

Algebra and Number Theory
Didactics and Education
Discrete Mathematics and Foundations
Geometry and Topology
Numerics and Scientific Computing
Probability Theory and Statistics

Connections to other fields

Chemistry and Earth Science
Computer Science
Engineering and Technology
Humanities and Social Sciences
Life Science
Reflections on Mathematics

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