We were working with Haiwen Wu (Ph.D

We were working with Haiwen Wu (Ph.D. student in Groningen) on the application of formation control techniques to arm manipulators. He conducted a very detailed analysis on to apply different distance and position-based control to arm manipulators with uncertainities in their parameters. Our results can be found in our accepted paper Distributed formation control for manipulator end-effectors, to be published in the IEEE Transactions on Automatic Control journal.