In this thesis, we study robust spatial formation control from several aspects. First, we study robust adaptive attitude synchronization for a network of rigid body agents using various attitude error functions defined on SO(3). Our results are particularly useful for networks with large initial attitude difference. We devise an adaptive geometric approach to cope with situations where the iner...

Notch signaling defines an evolutionarily ancient cell interaction mechanism, which plays a fundamental role in metazoan development. Signals exchanged between neighboring cells through the Notch receptor can amplify and consolidate molecular differences, which eventually dictate cell fates. Thus, Notch signals control how cells respond to intrinsic or extrinsic developmental cues that are nece...

The distributed control of multi-robot systems has been shown to have advantages over conventional single robot systems. These include scalability, flexibility and robustness to failures. This paper considers pattern formation and reconfigurability in a multi-robot system using bifurcating potential fields. It is shown how various patterns can be achieved through a simple free parameter change....