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On a hierarchical control strategy for multi-agent formation without reflection

Sugie, Toshiharu; Anderson, Brian; Sun, Zhiyong; Dong, Huichao


This paper considers a formation shape control problem for point agents in a two-dimensional ambient space, where the control is distributed, is based on achieving desired distances between nominated agent pairs, and avoids the possibility of reflection ambiguities. This has potential applications for large-scale multi-agent systems having simple information exchange structure. One solution to this type of problem, applicable to formations with just three or four agents, was recently given by...[Show more]

CollectionsANU Research Publications
Date published: 2019
Type: Conference paper
Book Title: Proceedings of the IEEE Conference on Decision and Control
DOI: 10.1109/CDC.2018.8619404
Access Rights: Open Access


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