Bipartite Formation over Undirected Signed Networks with Collision Avoidance
Pelin Şekercioğlu, Ioannis Sarras, Antonio Lorı́a, Elena V. Panteley, Julien Marzat · 2023
We address the problem of bipartite formation control, with collision avoidance, for double integrators with limited sensing ranges. We assume that the systems are inter- connected over an undirected, signed, and structurally balanced network. Then, to ensure that the proximity constraints are satisfied, we design a barrier-Lyapunov-function-based control law that guarantees connectivity maintenance for cooperative agents, and inter-agent collision avoidance for all agents. Relying on the edge-based agreement, we establish asymptotic stability of the bipartite formation control for signed networks. Finally, we illustrate our theoretical results via numerical simulations.