This paper presents a geometric approach to multi-robots group formation with connectivity preservation (from a graph-theoretic perspective) among group members. The controller demonstrates consistency among different formations, as well as stability while performing dynamic switching between formations. Inter-robots collision avoidance is delivered through formation preservation, while permitt...

Formation shape control for a collection of point agents is concerned with devising decentralized control laws which ensure that the formation will move so that certain interagent distances approximate prescribed values as closely as possible. Such laws are often derived using steepest descent of a potential function which is invariant under translation and rotation, and then critical formation...

The Yilgarn Banded Iron Formations of Western Australia are topographical features that behave as terrestrial islands within the otherwise flat, semi-arid landscape. The formations are characterised by a high number of endemic species, some of which are distributed across multiple formations without inhabiting the intervening landscape. These species provide an ideal context for phylogeographic...

We review the enabling theory for the decentralized and cooperative control of formations of unmanned, autonomous vehicles. The decentralized and cooperative formation control approach combines recent results from dynamical system theory, control theory, and algebraic graph theory. The stability of vehicle formations is discussed, and the applicability of the technology concept to a variety of ...

BACKGROUND AND PURPOSE Recent advances in data-processing techniques have allowed more accurate MR-based volumetric measurement than was possible in the past. The purpose of this study was to use this technique to evaluate the development of the temporal lobes in childhood. METHODS The study group consisted of 42 subjects aged 3 weeks to 14 years (mean age, 5 years), all with normal findings ...

It is important for clinicians to understand how adults who stutter construct who they are, i.e. their self-identity, in order to offer personally meaningful interventions. Early research on stuttering and self-concept provided initial knowledge, but there has been a dearth of further research in this field. This article, the third in a series of papers emanating from a doctoral study, provides...

Feldspar grains, as a significant provenance indicator, of two terrigenous formations from Central Iran, the Upper Red Formation, and Moghan area, Zivah Formation, are used for provenance determination and the study of transportation and depositional history. The Upper Red Formation (URF) is volumetrically the most important siliciclastic unit of the Central Iran and Zivah Formation (ZF) repres...