Topological Online Learning for Displacement-based Formation Control

arXiv:2606.23901v1 Announce Type: new Abstract: This paper addresses the problem of robust formation control by introducing Topological Online Learning for Displacement-based (TOLD) formation control, a real-time edge-level adaptation framework. Unlike conventional node-level robust controllers that regulate individual robot inputs without modifying the interaction topology, TOLD updates the interaction topology weights online to directly minimize formation distortion. Two strategies are propose...