Summers, Tyler; Yu, Changbin (Brad); Anderson, Brian; Dasgupta, Soura
This paper addresses the n-agent formation shape maintenance problem in the plane. We consider a class of directed information architectures associated with so called minimally persistent coleader formations. The formation shape is specified by certain interagent distances. Only one agent is responsible for maintaining each distance. We propose a control law where each agent executes its control using only the relative position measurements of agents it must maintain its distance to. The...[Show more]
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