Formation Control and Collision Avoidance for Multi-Agent Systems and a Connection between Formation Infeasibility and Flocking Behavior

conference on decision and control, pp.84-89, (2005)

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A feedback control strategy that achieves con- vergence of a multi-agent system to a desired formation configuration avoiding at the same time collisions is proposed. The collision avoidance objective is handled by a decentralized navigation function that vanishes when the desired formation tends to be realized. When inter-agent objective...更多

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