Distributed circular formation stabilization of unicycles part II: Arbitrary information flow graph

In part I of this paper we presented a solution to the circular formation stabilization problem of kinematic unicycles when the information flow graph is undirected. This paper extends the results of part I in two directions. First, we present a control law that solves the circular formation stabilization problem when the information flow is described by an arbitrary directed graph with a globally reachable node. Second, we generalize our results to the case when the unicycles are dynamic.