Maintaining a Directed, Triangular Formation of Mobile Autonomous Agents

M. Cao, A.S. Morse, C. Yu, B.D.O. Anderson, S. Dasgupta

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This paper analyzes a class of distributed control laws which encompasses and generalizes three previously considered types of control laws for maintaining a triangular formation in the plane consisting of three point-modeled, mobile autonomous agents. It is shown that the control laws considered can cause any initially non-collinear, positively-oriented {resp. negatively-oriented} three agent formation to converge exponentially fast to a desired positively-oriented {resp. negatively-oriented} triangular formation. These findings extend earlier results and provide an alternative perspective.
Original languageEnglish
Pages (from-to)1-16
Number of pages16
JournalCommunications in Information and Systems
Issue number1
Publication statusPublished - 2011

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