Hendrickx, Julien M; Anderson, Brian; Delvenne, Jean-Charles; Blondel, Vincent D
We consider in this paper formations of autonomous agents moving in a two-dimensional space. Each agent tries to maintain its distances toward a pre-specified group of other agents constant and the problem is to determine if one can guarantee that the distance between every pair of agents (even those not explicitly maintained) remains constant, resulting in the persistence of the formation shape. We provide here a theoretical framework for studying this problem. We describe the constraints on...[Show more]
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