Eren, Tolga2020-06-252020-06-252009closedAccess978-1-4244-4684-12325-369Xhttps://doi.org/10.1109/MED.2009.5164549https://hdl.handle.net/20.500.12587/460017th Mediterranean Conference on Control and Automation -- JUN 24-26, 2009 -- Thessaloniki, GREECEThis paper is concerned with rigid formations of mobile autonomous agents. For the problem of relative formation stabilization, Nyquist-like criterion for formation stabilization is used in literature, where spectral properties of the Laplacian matrix play a role in evaluating desirable structural properties of formations. Establishing measures of near-periodicity would be useful in quantifying formation stability margins. In this paper, we analyze constructions to create non-3-periodic rigid formations, i.e., we study the constructions to create 3-cycle-free rigid formations. Central to the development of our analysis will be the use of tools from rigidity theory and graph Laplacians.eninfo:eu-repo/semantics/closedAccessagents and agent-based systemsmulti-agent systemsformation controlrobot swarmsConference Object25826310.1109/MED.2009.5164549WOS:000280699600045N/A