The problem is studied of achieving a specified formation among a group of mobile autonomous agents by distributed control. If convergence to a point is feasible, then more general formations are achievable too, so the focus is on convergence to a point (the agreement problem). Three formation strategies are studied and convergence is proved under certain conditions. Also, motivated by the question of whether collisions occur, formation evolution is studied.
['Zhiyun Lin', 'Mireille E. Broucke', 'Bruce A. Francis']
Local control strategies for groups of mobile autonomous agents