Regular convex polygon formation with deviated cyclic pursuit

This paper presents the theoretical study of achieving and maintaining formation of multi-agent systems with deviated cyclic pursuit strategy. It is known that a group of agents achieve regular polygon formation with cyclic pursuit strategy. Depending on the initial condition of the agents, the formation can be a star or convex. Hence, there is a direct connection between the final formation and initial condition. In this paper, deviated cyclic pursuit is used to study more about this formation dependency on the initial condition. The deviation angle of deviated cyclic pursuit helps us to study this dependency. We find a range of deviation angle for the control law that ensures us to achieve a convex polygon formation of agents irrespective of any arbitrarily initial condition. This paper validates our previous work which is based on the simulation study. Finally, the result is verified with a group of UAVs each having 6-degree of freedom (DOF) model.