We are pleased to share that the article “The Geometry of Transmission Zeros in Distance-Based Formations” by Solomon Goldgraber Casspi and Daniel Zelazo has been published in IEEE Control Systems Letters.
The paper develops a geometric input-output analysis of distance-based formation control, focusing on how the spatial arrangement of actuator and sensor locations can cause steady-state signal blocking. The work characterizes transmission zeros in the linearized formation dynamics, identifies when such zeros are non-generic, and introduces explicit geometric tools - including the spatial locus of transmission zeros and the global transmission polygon - for robust sensor placement in rigid formations.
The article is available on IEEE Xplore: https://ieeexplore.ieee.org/document/11569026/. A local copy is also available here: PDF.