Abstract
In this paper the flying convex-path-following formations problem (FCxPFF) is solved for two cases of underactuated rigid bodies. In the first case the the rigid bodies have a single degree of underactuation with two thrusts and three torques. In the second, they have two degrees of underactuation with a single thrust. The solution builds on the one developed for fully-actuated agents in Part I of the paper. In addition, the way the solution is tailored for underactuation relies on further utilization of hierarchic set stabilization, and reduction. Additional remarks on the benefits of the approach, and simulation results of the proposed solutions are presented.
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