Swarm aggregation with a multi-robot system composed of three robotic units: A closed form analysis

In this work we consider a multi-robot system composed of three robotic units running the seminal swarm aggregation control law proposed in [1] for which a pairwise interaction is considered among each couple of units. In particular, we provide a characterization of all the possible equilibria for such a system while varying the parameters of interaction and investigate their stability properties. Simulations along with experimental results are given to corroborate the theoretical analysis.