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This paper concentrates on the distance-based formation control problem in three-dimensional space. The objective is to achieve and maintain the formation of overall group of a multi-agent system, whose interaction graph is acyclic minimally persistent. The gradient-based control law derived from a class of potential functions is considered to address this problem. The trajectories of agents converge...
In this paper, we propose a distance-based formation control strategy that can enable four mobile agents, which are modelled by a group of single-integrators, to achieve the desired formation shape specified by using six consistent inter-agent distances in a 2-dimensional space. The control law is closely related to a gradient-based control law formed from a potential function reflecting the error...
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