Formation control using generalized coordinates

This paper develops a control methodology which allows a number of vehicles to move as a group while maintaining a desired formation pattern. The control is based on the use of generalized coordinates. These coordinates characterize the location (L), orientation (O), and shape (S) of the formation. This provides a natural and convenient way of specifying configuration and allows the group to be controlled as a single entity. Both force-based and velocity-based controls are developed, as well as a simplified implementation with reduced communication requirements.