Shape Control of a Multi-agent System Using Tensegrity Structures

  • Benjamin Nabet
  • Naomi Ehrich Leonard
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 366)


We present a new coordinated control law for a group of vehicles in the plane that stabilizes an arbitrary desired group shape. The control law is derived for an arbitrary shape using models of tensegrity structures which are spatial networks of interconnected struts and cables. The symmetries in the coupled system and the energy-momentum method are used to investigate stability of relative equilibria corresponding to steady translations of the prescribed rigid shape.


Relative Equilibrium Mobile Sensor Stress Matrix Tensegrity Structure Coadjoint Action 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Benjamin Nabet
    • 1
  • Naomi Ehrich Leonard
    • 1
  1. 1.Mechanical and Aerospace EngineeringPrinceton UniversityPrincetonUSA

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