Maintaining a Directed, Triangular Formation of Mobile Autonomous Agents

Cao, M., Morse, A. S., Yu, C., Anderson, B. D. O. & Dasgupta, S., 2011, In : Communications in Information and Systems. 11, 1, p. 1-16 16 p.

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