Three and higher dimensional autonomous formations: Rigidity, persistence and structural persistence
Automatica (Journal of IFAC)
Further results on the stability of distance-based multi-robot formations
ACC'09 Proceedings of the 2009 conference on American Control Conference
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This paper considers the problem of distributed control of rigid formation shapes in the plane for multi-agent systems. A constructive perturbation method is proposed and combined with the conventional gradient control law. The proposed control law stabilizes the desired rigid formation in a global sense for all initial conditions except the case when a pair of communicating agents happen to have the same initial location. It also avoids collisions between any two communicating agents during the motion. Simulation results are provided to illustrate the effectiveness of the control algorithm.