Decentralized policies for geometric pattern formation
Marco Pavone, Emilio Frazzoli · 2007
This paper presents a decentralized control policy for symmetric formations in multi-agent systems. It is shown that𝓃agents, each one pursuing its leading neighbor along the line of sight rotated by a common offset angleα, eventually converge to a single point, a circle or a logarithmic spiral pattern, depending on the value ofα. Simulation results are presented and discussed.