We are pleased to share that Zamir Martinez and Solomon Goldgraber Casspi participated in the Stephen B. Klein Faculty of Aerospace Engineering Research Day. The event brings together graduate students from across the faculty to present their research in a poster session and discuss their work with students, faculty, and visitors.
Zamir presented work based on his paper “Formation Control via Rotation Symmetry Constraints” with Daniel Zelazo. The paper introduces a distributed formation-control strategy that uses rotation symmetry constraints to drive multi-agent systems toward desired planar symmetric configurations. A key feature of the approach is that it can be implemented with only the minimal connectivity requirement of (n - 1) edges, and the framework is extended to support coordinated maneuvering through translations, rotations, and scalings along a reference trajectory. A preprint is available here: ACC 2026 paper.
Solomon presented work based on his paper “The Geometry of Hidden Modes in Distance-Based Formation Control” with Daniel Zelazo. The paper develops a geometric input-output view of hidden modes in distance-based formation control, focusing on how uncontrollable modes arise in the linearized formation dynamics. The analysis characterizes global and local rotational subspaces and connects this geometry to disturbance rejection, showing how a formation’s ability to recover its shape depends on the direction of the applied input. A preprint is available here: IFAC 2026 paper.
Congratulations to both presenters, and special congratulations to Solomon for receiving 2nd place in the best poster competition for PhD students.