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Combined flocking and distance-based shape control of multi-agent formations

Deghat, Mohammad; Anderson, Brian D. O.; Lin, Zhiyun


Steepest descent control laws can be used for formation shape control based on specified inter-agent distances, assuming point agents with single integration of the control action to yield velocity. Separately, it is known how to achieve equal velocity for a collection of agents in a formation using consensus ideas, given appropriate properties for the graph describing information flows. This work shows how the two concepts of formation shape control and flocking behavior can be combined...[Show more]

CollectionsANU Research Publications
Date published: 2016-07
Type: Journal article
Source: IEEE Transactions on Automatic Control
DOI: 10.1109/TAC.2015.2480217
Access Rights: Open Access


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