Modifying Laplacian weights produces leaderless affine formation motions in the plane, with an analytic solution via complex-number eigenvectors and eigenvalues.
Distributed leader–follower affine formation maneuver control for high-order multiagent systems
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Leaderless Collective Motion in Affine Formation Control over the Complex Plane
Modifying Laplacian weights produces leaderless affine formation motions in the plane, with an analytic solution via complex-number eigenvectors and eigenvalues.