Abstract
In this paper, we analyze the stability of a network that uses piecewise smooth potential functions. A gravitation-like force is applied to deploy a group of agents and to form a certain configuration. We use a nonsmooth version of the Lyapunov stability theory and LaSalles invariance principle to show asymptotic stability of the network which is governed by discontinuous dynamics. Hexagonal deployment using such a force is shown through simulation.
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