{"ID":2842522,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.10858","arxiv_id":"2511.10858","title":"Decentralized Swarm Control via SO(3) Embeddings for 3D Trajectories","abstract":"This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic trajectories by stabilizing the system around a Lie group-based geometric embedding. Employing the Lie group SO(3), we generate a wider range of periodic curves than existing quaternion-based methods. Furthermore, we exploit SO(3) properties to eliminate the need for velocity inputs, allowing agents to receive only position inputs. We also propose a novel phase controller that ensures uniform agent separation, along with a formal stability proof. Validation through simulations and experiments showcases the method's adaptability to complex low-level dynamics and disturbances.","short_abstract":"This paper presents a novel decentralized approach for achieving emergent behavior in multi-agent systems with minimal information sharing. Based on prior work in simple orbits, our method produces a broad class of stable, periodic trajectories by stabilizing the system around a Lie group-based geometric embedding. Emp...","url_abs":"https://arxiv.org/abs/2511.10858","url_pdf":"https://arxiv.org/pdf/2511.10858v1","authors":"[\"Dimitria Silveria\",\"Kleber Cabral\",\"Peter Jardine\",\"Sidney Givigi\"]","published":"2025-11-13T23:50:59Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.MA\"]","methods":"[]","has_code":false}