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We propose a synchronization approach to solve a problem where multiple unicycle agents are required to follow individual reference trajectories while maintaining a time-varying formation. Motions of the agents are synchronized thanks to coupling terms in their feedback control laws. Under saturation constraints on the control signals, our control laws guarantee global asymptotic zeroing of the synchronization...
Formation control of multiple agents has been studied extensively in the past few years. In most of these studies the structure of the communication network was considered to be fixed. However, in some applications this assumption may not hold, specially when the communication among the agents depends on their relative distance or attitude. In this paper, the problem of formation control of multiple...
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