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Decentralized Cohesive Motion Control of Multi-Agent Formations

Sandeep, Srikumar; Fidan, Baris; Yu, Changbin (Brad)


This paper presents a set of decentralized control laws for the cohesive motion of 2-dimensional multi-agent formations. We consider rigid and constraint-consistent formations that can be modeled by directed graphs. We analyze both of the two main hierarchical structures for such 2-dimensional formations: The leader-follower and the three-coleader structures. For each structure, we derive a control scheme that moves a given rigid and constraint-consistent formation whose initial position and...[Show more]

CollectionsANU Research Publications
Date published: 2006
Type: Conference paper
Source: Proceedings of the 14th Mediterranean Conference on Control and Automation
DOI: 10.1109/MED.2006.328692


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