Formation control for multiagent systems in realistic communication environments

In this brief, we present a formation control algorithm for multiagent systems in realistic communication environments. The proposed design is motivated by the flocking algorithm in with the utilization of a new communication outage probability-dependent collective potential function in the derivation of the formation control algorithm. Upon convergence, it can be shown that all agents achieve formation flocking and maintain the desired inter agent distances determined by allowable maximum outage probability.