Formation control of autonomous agents in 3D workspace
W. Kang, Ning Xi, Andrew G. Sparks · 2002
A general method of controller design is developed in this paper for the purpose of formation keeping and reconfiguration of multiple autonomous vehicles. Controllers are designed to keep multiple vehicles in a required formation, and to coordinate the vehicles in the presence of environmental changes. The method is applicable to a large variety of autonomous agents. Examples and simulations are given for ground vehicles, robotic arms and satellites.