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Formation constrained multi-agent control

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2 Author(s)
Egerstedt, M. ; Div. of Eng. & Appl. Sci., Harvard Univ., Cambridge, MA, USA ; Xiaoming Hu

We propose a model independent coordination strategy for multi-agent formation control. The main theorem states that under a bounded tracking error assumption our method stabilizes the formation error. We illustrate the usefulness of the method by applying it to rigid body constrained motions, as well as to mobile manipulation.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference:

2001