Departmental Papers (ESE)

Document Type

Journal Article

Subject Area


Date of this Version

June 2004


Copyright 2004 IEEE. Reprinted from IEEE Transactions on Robotics and Automation, Volume 20, Issue 3, June 2004, pages 443-455.
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The paper investigates the stability properties of mobile agent formations which are based on leader following. We derive nonlinear gain estimates that capture how leader behavior affects the interconnection errors observed in the formation. Leader-to-formation stability (LFS) gains quantify error amplification, relate interconnection topology to stability and performance, and offer safety bounds for different formation topologies. Analysis based on the LFS gains provides insight to error propagation and suggests ways to improve the safety, robustness, and performance characteristics of a formation.


formation stability, graph theory, input-to-state stability, interconnected systems



Date Posted: 15 November 2004

This document has been peer reviewed.