Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 50, Issue 1, Pages 121-127Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2004.841121
Keywords
distributed control; multiagent system; nonholonomic mobile robots
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The feasibility problem is studied of achieving a specified formation among a group of autonomous unicycles by local distributed control. The directed graph defined by the information flow plays a key role. It is proved that formation stabilization to a point is feasible if and only if the sensor digraph has a globally reachable node. A similar result is given for formation stabilization to a line and to more general geometric arrangements.
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