**:** . .
**:** :

**. :** 0421000023\0071

**:** 30.1
**:**
**:** 2010
**:** . . : / . 30.1 " ". .: , 2010. .681-696.

** :** , ,

** (.):** formation control, power iterations, linear algorithms

**:** [5] , . , , , .

** (.):** The subject of this note is the algorithm of evolution of a point set on the plane devised in~\cite{vanloan}, which drives the whole system to a certain regular configuration. Generalizations of the algorithm are analyzed, certain new properties are studied, the connection to formation control methods is discussed, and new simpler algorithms of this sort are proposed.

PDF -
: 2707, : 1017, : 8.