Abstract
This paper proposes a new distributed formation control law for the multi-agent systems in three-dimensional space. It is a contribution of this paper that a global convergence is achieved without any global information. The cycle-free persistent graph in three-dimensional space is considered, and the system is completely distributed and decentralized from the perspective of local sensing. It is assumed that each agent does not know information of the frame of other agents; but it can measure only relative positions of neighbors. The stability and convergence of the system is analyzed mathematically, and the simulation is performed to support the analytic results.
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