Smith, Stephen L. (Univ. of California, Santa Barbara), Broucke, Mireille E. (Univ. of Toronto), Francis, Bruce A. (Univ. of Toronto)

Stabilizing a Multi-Agent System to an Equilateral Polygon Formation

Scheduled for presentation during the Mini-Symposium "Cooperative Control" (FrA08), Friday, July 28, 2006, 12:05−12:30, Room I

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

The problem of stabilizing a group of agents in the plane to a stationary formation is analyzed. A local control scheme is proposed to stabilize the agents to the vertices of an equilateral polygon. The centroid of the agents is stationary during the evolution. For three agents a full stability analysis is performed: If three agents start in distinct and non-collinear locations, they converge to the vertices of a stationary equilateral triangle, while maintaining a stationary centroid.