Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Robust Formation Control in SE(3) for Tree-Graph Structures with
  Prescribed Transient and Steady State Performance   This paper presents a novel control protocol for distance and orientation
formation control of rigid bodies, whose sensing graph is a static and
undirected tree, in the special Euclidean group SE(3). The proposed control
laws are decentralized, in the sense that each agent uses only local relative
information from its neighbors to calculate its control signal, as well as
robust with respect to modeling (parametric and structural) uncertainties and
external disturbances. The proposed methodology guarantees the satisfaction of
inter-agent distance constraints that resemble collision avoidance and
connectivity maintenance properties. Moreover, certain predefined functions
characterize the transient and steady state performance of the closed loop
system. Finally, simulation results verify the validity and efficiency of the
proposed approach.

27
The categories of this paper are: comp-gas
30
The categories of this paper are: q-alg
2
The categories of this paper are: math
22
The categories of this paper are: chao-dyn
10
The categories of this paper are: q-bio
16
The categories of this paper are: stat
20
The categories of this paper are: acc-phys
24
The categories of this paper are: dg-ga
28
The categories of this paper are: alg-geom
34
The categories of this paper are: chem-ph
6
The categories of this paper are: astro-ph
5
The categories of this paper are: gr-qc
9
The categories of this paper are: nlin
23
The categories of this paper are: solv-int
21
The categories of this paper are: adap-org
35
The categories of this paper are: mtrl-th