{"paper":{"title":"Formation control with pole placement for multi-agent systems","license":"http://creativecommons.org/licenses/by-nc-sa/3.0/","headline":"","cross_cats":["cs.MA","cs.SY"],"primary_cat":"math.OC","authors_text":"Ameer K. Mulla, Debraj Chakraborty, Madhu N. Belur, Rachel K. Kalaimani","submitted_at":"2013-05-16T13:34:19Z","abstract_excerpt":"The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One of the agents is designated as the leader. If the communication graph contains a directed spanning tree with the leader node as the root, then it is possible to place the poles of the ensemble system with purely local feedback controller gains. Given a desired formation, first one of the poles is placed at the origin. Then it is shown that the inter-agent w"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1305.3797","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"}