Relative Affine Localization for Robust Distributed Formation Control

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Multiagent systems have been widely researched and deployed in the industry for their potential to collectively achieve goals by distributing tasks to individual agents [1]–[4]. Formation control, one of the many applications of multiagent systems, aims at steering agents into a stable geometric pattern in space [3], [4]. There has been a variety of crafted distributed controllers in literature based on different dynamics that agents follow, and different variables that agents sense and control [5]. Affine formation control is brought to the spotlight where N agents in RD converge to the target formation up to an affine transformation [6]. A more general scenario of affine formation control is the dynamic formation maneuvering problem where the target configuration is time-varying and the agents need to not only converge to the desired formation but also track the maneuvering pattern. This problem is addressed in [7] where a series of controller designs are introduced depending on the dynamics of the agents...