Maintaining a directed, triangular formation of mobile autonomous agents
Brian D. O. Anderson, Ming Cao, Soura Dasgupta, A. Stephen Morse, Changbin Brad Yu · Communications in Information and Systems · 2011
This paper analyzes a class of distributed control laws which encompasses and generalizes three previously considered types of control laws for maintaining a triangular formation in the plane consisting of three point-modeled, mobile autonomous agents.It is shown that the control laws considered can cause any initially non-collinear, positively-oriented {resp.negatively-oriented} three agent formation to converge exponentially fast to a desired positively-oriented {resp.negatively-oriented} triangular formation.These findings extend earlier results and provide an alternative perspective.