Summers, Tyler; Yu, Changbin (Brad); Dasgupta, Soura; Anderson, Brian
This paper solves an $n$ -agent formation shape control problem in the plane. The objective is to design decentralized control laws so that the agents cooperatively restore a prescribed formation shape in the presence of small perturbations from the prescribed shape. We consider two classes of directed, cyclic information architectures associated with so-called minimally persistent formations: leader-remote-follower and coleader. In our framework the formation shape is maintained by controlling...[Show more]
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