Distance-based multi-agent formation control: a virtual tensegrity approach

Tensegrity frameworks have garnered significant interest across various disciplines, including civil engineering, biology, and mechanics, owing to their distinct characteristics. Inspired by the cable-strut pattern of the tensegrity framework, Zhiyuan Liu applies a virtual tensegrity framework to multi-agent formation systems for distributed controller design. Liu shows great potential of applying tensegrity-based controllers to various formation control tasks.

Dissertation: https://hdl.handle.net/11370/f365b2e0-af62-46c7-a9d8-9c3f256895ab