Formation Control Under Limited Sensory Range Constraints
Egerstedt, Magnus B.
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Based on the assumption that all robots in a given multi-agent scenario can evaluate a global formation function, we show how a model independent coordination strategy for multi-agent formation control can be obtained. The main theorem states that under a bounded tracking error assumption out method stabilizes the formation error. We furthermore complement this result with an investigation of how limited sensory range capabilities affect the group performance.