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This paper addresses the n-vehicle formation shape maintenance problem in the plane. The objective is to design decentralized motion control laws for each vehicle to restore formation shape in the presence of small perturbations from the desired shape. Formation shape is restored by actively controlling a certain set of interagent distances, and we assign the task of controlling a particular interagent...
This paper solves an -agent formation shape control problem in the plane. The objective is to design decentralized control laws so that the agents cooperatively restore a prescribed formation shape in the presence of small perturbations from the prescribed shape. We consider two classes of directed, cyclic information architectures associated with so-called minimally persistent formations: leader-remote-follower...
We consider formation shape control of four point agents in the plane. Control laws based on specified interagent distances are used. For a complete graph, specification of all interagent distances determines the formation shape uniquely. Krick, Broucke and Francis showed that for a standard control law, there may exist equilibrium formations with incorrect interagent distances. This paper studies...
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