Local Control Strategies for Groups of Mobile Autonomous Agents
Zhiyun Lin, Mireille E. Broucke, B. Francis · IEEE Transactions on Automatic Control · 2004
The problem of achieving a specified formation among a group of mobile autonomous agents by distributed control is studied. If convergence to a point is feasible, then more general formations are achievable too, so the focus is on convergence to a point (the agreement problem). Three formation strategies are studied and convergence is proved under certain conditions. Also, motivated by the question of whether collisions occur, formation evolution is studied.