Feasible formations of multi-agent systems
Tabuada, P.; Pappas, G.J.; Lima, P.
American Control Conference, 2001. Proceedings of the 2001
Volume 1, Issue , 2001 Page(s):56 - 61 vol.1
Digital Object Identifier   10.1109/ACC.2001.945513
Summary:Formations of multi-agent systems, such as satellites and aircraft, require that individual agents satisfy their kinematic equations while constantly maintaining inter-agent constraints. In this paper, we develop a systematic framework for studying formations of multiagent systems. In particular, we consider undirected formations for centralized formations and directed formations for decentralized formations. In each case, we determine differential geometric conditions that guarantee formation feasibility given the individual agent kinematics. Our framework also enables us to extract a smaller control system that describes the formation kinematics while maintaining,all formation constraints

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