{"ID":2878750,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.18483","arxiv_id":"2508.18483","title":"Fast Multiagent Formation Stabilization with Sparse Universally Rigid Frameworks","abstract":"Affine formation control (AFC) is a distributed networked control system that has recently received increasing attention in various applications. AFC is typically achieved using a generalized consensus system where the stress matrix, which encodes the graph structure, is used instead of a graph Laplacian. Universally rigid frameworks (URFs) guarantee the existence of the stress matrix and have thus become the guideline for such a network design. In this work, we propose a convex optimization framework to design the stress matrix for AFC without predefining a rigid graph. We aim to find a resulting network with a reduced number of communication links, but still with a fast convergence speed. We show through simulations that our proposed solutions can yield a more sparse graph, while admitting a faster convergence compared to the state-of-the-art solutions.","short_abstract":"Affine formation control (AFC) is a distributed networked control system that has recently received increasing attention in various applications. AFC is typically achieved using a generalized consensus system where the stress matrix, which encodes the graph structure, is used instead of a graph Laplacian. Universally r...","url_abs":"https://arxiv.org/abs/2508.18483","url_pdf":"https://arxiv.org/pdf/2508.18483v1","authors":"[\"Zhonggang Li\",\"Geert Leus\",\"Raj Thilak Rajan\"]","published":"2025-08-25T20:48:55Z","proceeding":"eess.SY","tasks":"[\"eess.SY\",\"eess.SP\"]","methods":"[]","has_code":false}