This article explores the formation control of multi-agent systems, with a focus on the distributed leader-follower stress-matrix-based affine formation control problem. In such systems, the aim is to direct a set of agents to form any desired geometric pattern and execute any required manoeuvre by controlling only a few agents known as leaders. The paper proposes control laws and provides sufficient conditions to guarantee overall system stability. It also highlights the limitations of previous works and offers a fresh perspective by considering discrete-time cases where leaders can have stationary or time-varying velocities.
Publication date: 12 Jan 2024
Project Page: https://doi.org/
Paper: https://arxiv.org/pdf/2401.05083
