|Leader-Follower Type Distance-based Formation Control of a Group of Autonomous Agents
Kwang-Kyo Oh* and Hyo-Sung Ahn
International Journal of Control, Automation, and Systems, vol. 15, no. 4, pp.1738-1745, 2017
Abstract : "We study distance-based formation control of a group of mobile agents consisting of several leaders and
the remaining followers. The leaders sense their own positions with respect to a global reference frame whereas
the followers sense only relative positions of their neighbors with respect to their own local reference frames. The
relative position sensing topology is given as a directed acyclic graph. The objective of the agents is to reach their
desired positions in the global reference frame. By applying a distance-based control law to the followers, we allow
the agents to reach their desired positions if the sensing graph satisfies some graph rigidity conditions. Further we
study the case that the desired positions are time-varying."
Autonomous agents, formation control, graph rigidity, leader-follower.