Graph-Based Distributed Control for Non-holonomic Vehicles Engaged in a Reconfiguration Task using Local Positioning Information
Riccardo Falconi, Sven Gowal, Jim Pugh, Alcherio Martinoli · 2009
Formation building and keeping among vehicles has been studied for many years, since 1987 with Reynolds’ rules [1]. This paper presents a control algorithm, based on recent work in graph theory, able to reconfigure static formations of non-holonomic vehicles endowed solely with local positioning cap