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We derive a graph transformation mapping the kernel of a graph's Laplacian to a desired configuration vector while retaining graph topology characteristics. The transformation facilitates derivation of a self-triggered controller driving agents to prescribed configurations while regulating instances of inter-agent communication. Experimental validation of the theoretical results shows the self-triggered approach drives agents to a desired configuration using fewer control updates than traditional periodic implementations.<\/jats:p>","DOI":"10.1017\/s0263574718000231","type":"journal-article","created":{"date-parts":[[2018,3,27]],"date-time":"2018-03-27T05:58:51Z","timestamp":1522130331000},"page":"1077-1097","source":"Crossref","is-referenced-by-count":14,"title":["Kernel Design and Distributed, Self-Triggered Control for Coordination of Autonomous Multi-Agent Configurations"],"prefix":"10.1017","volume":"36","author":[{"given":"Levi","family":"DeVries","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Aaron","family":"Sims","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michael D. 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