@inproceedings{Elamvazhuthi_Berman14,
	author = {Karthik Elamvazhuthi and Spring Berman},
	title = {Scalable formation control of multi-robot chain networks using a pde abstraction},
	year = {2014},
	abstract = {This work investigates the application of boundary control of the wave
	equation to achieve leader-induced formation control of a multi-robot network with
	a chain topology. In contrast to previous related work on controlling formations
	of single integrator agents, we consider a model for double integrator agents. For
	trajectory planning, we use the flatness based method for assigning trajectories to
	leader agents so that the agents’ trajectories and control inputs are computed in a
	decentralized way. We show how the approximation greatly simplifies the planning
	problem and the resulting synthesized controls are bounded and independent of the
	number of agents in the network. We validate our formation control approach with
	simulations of 100 and 1000 agents that converge to configurations on three different
	type of target curves.},
	address = {Daejeon, Korea},
	month = {November~2--5,},
	booktitle = {Proceedings of the 2014 International Symposium on Distributed Autonomous Robotic Systems (DARS)},
}