Uniform deployment of second-order agents on a line segment

In this paper we consider a special problem of formation control, that is, the problem of uniform spread (or deployment) of several identical agents on a line segment. This problem was exhaustively studied for first-order agents since the pioneering paper by I.A. Wagner and A.M. Bruckstein who considered it under the name of “row straightening algorithm”. We extend it to the more realistic case of second-order agents.