Dynamic Polymorphic Agents Scheduling and Execution Using Artificial Immune Systems
ICARIS '08 Proceedings of the 7th international conference on Artificial Immune Systems
A switching active sensing strategy to maintain observability for vision-based formation control
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Stabilization of a hierarchical formation of unicycle robots with velocity and curvature constraints
IEEE Transactions on Robotics
Decentralized lattice formation control for micro robotic swarms
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Passive decomposition and control of nonholonomic mechanical systems
IEEE Transactions on Robotics
Simulating formations of non-holonomic systems with control limits along curvilinear coordinates
MIG'10 Proceedings of the Third international conference on Motion in games
Decision making as optimization in multi-robot teams
ICDCIT'12 Proceedings of the 8th international conference on Distributed Computing and Internet Technology
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Formations of multi-agent systems, such as mobile robots, satellites and aircraft, require individual agents to satisfy their kinematic equations while constantly maintaining interagent constraints. In this paper, we develop a systematic framework for studying formation motion feasibility of multi-agent systems. In particular, we consider formations wherein all the agents cooperate to enforce the formation. We determine algebraic conditions that guarantee formation feasibility given the individual agent kinematics. Our framework also enables us to obtain lower dimensional control systems describing the group kinematics while maintaining all formation constraints.