Orientation alignment based formation control in multi-agent systems

This paper addresses formation control of single-integrator modeled agents in the plane. It is assumed that the agents measure the relative-displacements of their neighbors with respect to their local reference frames, whose orientation are not necessarily aligned, and exchange local information through communication. For the agents, a formation control strategy is proposed. The control strategy consists of a consensus law for aligning the reference frames and a feedback control law for stabilizing the relative-positions of the agents. A sufficient condition for achieving the desired formation is provided.