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In this paper and its companion paper [1], multi-agent formation control with obstacle collision avoidance for angle-distance-based formations with orientation control is considered. We propose an approach that uses information about the angle and distance between agents to achieve a leader-follower formation. First, we provide cascaded control laws with collision avoidance for groups of agents with...
In this paper and its companion paper [1], a stable leader-following formation control for multi-agent systems with obstacle collision avoidance with orientation control is considered. We propose a cascaded distributed control law that uses information about the angle and distance between agents to achieve a cycle-free persistent formation. First, we provide a control scheme with collision avoidance...
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