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We consider the formation control problem with the ring graph. Because the graph is cyclic, undesired equilibria arise. We investigate the structures of the undesired equilibria and develop conditions that describe the undesired formations. When the desired formation is an equilateral polygon, we prove by linearization that the undesired equilibria are unstable. We also discuss the interpretation...
We study a coordination problem where the objective is to steer a group of agents to a prescribed formation that translates with a prescribed reference velocity. Unlike existing designs which assume that the the reference velocity information is available to each agent, we consider the situation where this information is available only to a leader. We then develop an adaptive design with which the...
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