Hoberman's Twiddlestix as a paradigm for multi-vehicle formation control
Why this work is in the frame
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Bibliographic record
Abstract
In this thesis we study the problem of multi-vehicle formation control. We use the so called "Hoberman's Twiddlestix" as a paradigm to investigate problems of controller synthesis. The design of a distributed controller that drives multiple nonholonomic vehicles to achieve a Hoberman formation is the primary goal of our controller synthesis. The main tools we employ in this thesis are graph rigidity theory and nonlinear control theory. We apply graph rigidity theory to the Hoberman structure to obtain the overall distributed control structure. We employ nonlinear control theory to design the local controllers. The local controller is a switching type controller. It is shown by simulations that the overall controller reaches the control synthesis goal: to stabilize a group of non-holonomic vehicles to a formation defined only in terms of distance constraints between the vehicles.
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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) | 0.002 | 0.002 |
| Meta-epidemiology (broad) | 0.002 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.001 | 0.002 |
| Open science | 0.003 | 0.000 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.002 |
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