Dynamic Formation Control of Multi-Agent Systems Using Rigid Graphs

Abstract

In this paper, we consider the problem of formation control of multi-agent systems where the desired formation is dynamic. This is motivated by applications, such as obstacle avoidance, where the formation size and/or geometric shape needs to vary in time. Using a single-integrator model and rigid graph theory, we propose a new control law that exponentially stabilizes the origin of the nonlinear, inter-agent distance error dynamics and ensures tracking of the desired formation. The extension to the formation maneuvering problem is also discussed. Simulation results for a five-agent formation demonstrate the control in action.