Stabilization of symmetric formations to motion around convex loops

Derek A. Paley, Naomi Ehrich Leonard, Rodolphe Sepulchre

Research output: Contribution to journalArticlepeer-review

62 Scopus citations


We provide a cooperative control algorithm to stabilize symmetric formations to motion around closed curves suitable for mobile sensor networks. This work extends previous results for stabilization of symmetric circular formations. We study a planar particle model with decentralized steering control subject to limited communication. Because of their unique spectral properties, the Laplacian matrices of circulant graphs play a key role. We illustrate the result for a skewed superellipse, which is a type of curve that includes circles, ellipses, and rounded parallelograms.

Original languageEnglish (US)
Pages (from-to)209-215
Number of pages7
JournalSystems and Control Letters
Issue number3
StatePublished - Mar 2008
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • General Computer Science
  • Mechanical Engineering
  • Electrical and Electronic Engineering


  • Cooperative control
  • Curvature
  • Laplacian
  • Oscillators
  • Sensor networks


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