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Abstract: This paper considers the coupled, bearing-only formation control of three mobile agents moving in the plane. Each agent has only local inter-agent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming that the desired angular separation of each agent relative to the group is feasible, a triangle is generated. The control law is distributed and accordingly each agent can determine their own control law using only the locally measured bearings. A convergence result is established in this paper which guarantees global asymptotic convergence of the formation to the desired formation shape. [Copyright &y& Elsevier]

Abstract: In this paper, we introduce the idea of abstraction-based diagnosability for large-scale composed discrete event systems that consist of multiple subsystems. To this end, we determine sufficient conditions such that diagnosability of the original system follows from diagnosability of an abstracted system model on a smaller state space. In addition, we prove that also the reverse implication is true if an additional requirement for the abstraction is fulfilled. Then, we show how our method can be applied to compute abstracted models for the diagnosability verification of composed systems without enumerating the whole system state space. In this way, considerable computational savings can be achieved as illustrated by a small manufacturing system example. [Copyright &y& Elsevier]

Abstract: In this paper, we investigate a minimum time problem for controlled non-autonomous differential systems, with dynamics depending on the final time. The minimal time function associated to this problem does not satisfy the dynamic programming principle. However, we will prove that it is related to a standard front propagation problem via the reachability function. Two simple numerical examples are given to illustrate our approach. [Copyright &y& Elsevier]