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The paper presents a linear approach for formation control of multiple autonomous agents in d-dimensional space. The generalized notion of graph Laplacian, associated to a graph with possibly negative weights on the edges, is introduced aiming to solve the formation problem of controlling a network of point agents to form a given pattern (including rotation, translation, and scaling). By assuming the number of agents is larger than d + 1, we derive that a linear distributed control law existsdoi:10.1109/cdc.2013.6760845 dblp:conf/cdc/LinCF13 fatcat:c4nyfbxfnzehhlganz3vewrroy