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Local control strategies for groups of mobile autonomous agents

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3 Author(s)
Zhiyun Lin ; Dept. of Electr. & Comput. Eng., Univ. of Toronto, Ont., Canada ; Broucke, Mireille ; Francis, B.

The problem of achieving a specified formation among a group of mobile autonomous agents by distributed control is studied. If convergence to a point is feasible, then more general formations are achievable too, so the focus is on convergence to a point (the agreement problem). Three formation strategies are studied and convergence is proved under certain conditions. Also, motivated by the question of whether collisions occur, formation evolution is studied.

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Automatic Control, IEEE Transactions on  (Volume:49 ,  Issue: 4 )