The Geometry of Sensor Information Utilization in Nonlinear Feedback Control of Vehicle Formations

Acknowledgement. As I finish writing this article for inclusion in the proceedings, I would like to express warm appreciation to the organizers who made the Workshop on Cooperative Control a rich and rewarding experience for all who attended. Hearty thanks to Vijay Kumar, Naomi E. Leonard, and especially to Steve Morse who was moved to share his special place (Block Island) with colleagues in biology and control.

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