A class of bounded distributed controllers for connectivity preservation of unicycles
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Bibliographic record
Abstract
This paper is concerned with the connectivity preservation of a group of nonholonomic agents using a novel distributed control scheme. The proposed controllers are bounded, and are capable of maintaining the connectivity of those pairs of agents which are initially within the connectivity range. This means that if the underlying network of agents is initially connected, it will remain connected at all times. The main idea is to design the controller in such a way that when an agent is about to lose connectivity with a neighbor, the lowest-order derivative of the agent's position that is neither zero nor perpendicular to the edge connecting the agent to the corresponding neighbor makes an acute angle with this edge, forcing it to shrink. The results are first developed for a static information flow graph and are then extended to the case of dynamic edge addition. The control laws are derived based on a set of potential functions which are smooth, resulting in bounded control inputs. The effectiveness of the proposed control scheme is illustrated by a consensus example.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it