{"paper":{"title":"Distance-based Control of K4 Formation with Almost Global Convergence","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.SY","authors_text":"Brian D. O. Anderson, Hyo-Sung Ahn, Minh Hoang Trinh, Myoung-Chul Park, Zhiyong Sun","submitted_at":"2016-06-06T07:18:45Z","abstract_excerpt":"In this paper, we propose a distance-based formation control strategy that can enable four mobile agents, which are modelled by a group of single-integrators, to achieve the desired formation shape specified by using six consistent inter-agent distances in a 2-dimensional space. The control law is closely related to a gradient-based control law formed from a potential function reflecting the error between the actual inter-agent distances and the desired inter-agent distances. There are already control strategies achieving the same objective in a distance-based control manner in the literature,"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1606.01638","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}