Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 49, Issue 4, Pages 622-629Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2004.825639
Keywords
distributed control; mobile autonomous agents
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The problem of achieving a specified formation among a group of mobile autonomous agents by distributed control is studied. If convergence to a point is feasible, then more general formations are achievable too, so the focus is on convergence to a point (the agreement problem). Three formation strategies are studied and convergence is proved under certain conditions. Also, motivated by the question of whether collisions occur, formation evolution is studied.
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