Combining distance-based formation shape control with formation translation
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Abstract
Steepest descent control laws can be used for formation shape control based on specified interagent distances, assuming point agents with single integration of the control action to yield velocity. Separately, it is known how to achieve equal velocity for a collection of agents in a formation using consensus ideas, given appropriate properties for the graph describing information flows. This work shows how the two concepts of formation shape control and flocking behavior can be combined when one changes from an agent with single integration to one with double integration, and our new contribution is to do this when, as is common, there is a leader in the formation.
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Consensus approach, Distance-based formation shape control, Double integration, Flocking behavior, Formation translation, Gradient methods, Graph theory, Information flow, Integration, Multi-robot systems, Point agents, Shape control, Single integration, Specified interagent distance, Steepest descent control law