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this technique but is not covered here due to the lack of space. Shape changing with
avoidance manipulability can be improved for obstacles avoidance. The modelling of
tensegrity structure under the formation control is required to develop more advanced
mathematical machinery that can be used to analyse the stability of the formation con-
figuration.
References
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[EU10] Esin, Y.H., Unel, M.: Formation Control of Nonholonomic Mobile Robots Using Im-
plicit Polynomials and Elliptic Fourier Descriptors. Turkish Journal of Electrical Engineering
and Computer Sciences 18(5), 765-780 (2010)
[Ful62] Fuller, R.B.: Tensile-integrity Structures. U.S. Patent 3, 063, 521 (1962)
[LN12] Lau, S.Y., Naeem, W.: Tensegrity-Based Formation Control of Unmanned Vehicles. In:
Proceedings of UKACC International Conference on Control, Cardiff, UK, September 1-3,
pp. 1-6 (2012)
[LX05] Li, X.H., Xiao, J.Z.: Formation Control in Leader-Follower Motion Using Direct Lya-
punov Method. International Journal of Intelligent Control and Systems 10(3), 244-250
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[SO09] Skelton, R.E., de Oliveira, M.C.: Tensegrity Systems. Springer, New York (2009)
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[TC99] Tzeng, C.Y., Chen, J.F.: Fundamental properties of linear ship steering dynamic models.
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[YNIL12] Yang, A., Naeem, W., Irwin, G.W., Li, K.: Novel decentralised formation control
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