{"ID":2830298,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.10700","arxiv_id":"2512.10700","title":"On the Stabilization of Rigid Formations on Regular Curves","abstract":"This work deals with the problem of stabilizing a multi-agent rigid formation on a general class of planar curves. Namely, we seek to stabilize an equilateral polygonal formation on closed planar differentiable curves after a path sweep. The task of finding an inscribed regular polygon centered at the point of interest is solved via a randomized multi-start Newton-Like algorithm for which one is able to ascertain the existence of a minimizer. Then we design a continuous feedback law that guarantees convergence to, and sufficient sweeping of the curve, followed by convergence to the desired formation vertices while ensuring inter-agent avoidance. The proposed approach is validated through numerical simulations for different classes of curves and different rigid formations. Code: https://github.com/mebbaid/paper-elobaid-ifacwc-2026","short_abstract":"This work deals with the problem of stabilizing a multi-agent rigid formation on a general class of planar curves. Namely, we seek to stabilize an equilateral polygonal formation on closed planar differentiable curves after a path sweep. The task of finding an inscribed regular polygon centered at the point of interest...","url_abs":"https://arxiv.org/abs/2512.10700","url_pdf":"https://arxiv.org/pdf/2512.10700v1","authors":"[\"Mohamed Elobaid\",\"Shinkyu Park\",\"Eric Feron\"]","published":"2025-12-11T14:41:19Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false,"code_links":[{"ID":606020,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2830298,"paper_url":"https://arxiv.org/abs/2512.10700","paper_title":"On the Stabilization of Rigid Formations on Regular Curves","repo_url":"https://github.com/mebbaid/paper-elobaid-ifacwc-2026","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}