Abstract
This paper proposes a new forwarding design of inverse optimal formation control laws for mobile agents with limited sensing ranges and driven by both deterministic and stochastic disturbances (drifts, diffusions, and jumps). The disturbances are allowed to be functions of arbitrarily high order polynomial of agent velocities. The proposed control laws guarantee that there is no collision between any agents, and a cost functional penalising both states and controls without having to solve a Hamilton-Jacobi-Bellman equation or a Hamilton-Jacobi-Isaacs equation. The control design is based on the flexibility of the forwarding method. Simulations are also included to illustrate the effectiveness of the proposedcontrol design.
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