Robust Distributed Formation Control of Agents with Higher-Order Dynamics
Channel: Kaveh Fathian
Date: 2018-05-08

We present a distributed control strategy for agents with a variety of holonomic dynamics to autonomously achieve a desired formation. The proposed control is fully distributed, and can be implemented locally on agents using the relative position measurements. 
Furthermore, agents do not need to communicate or have a common sense of orientation. The proposed method is applied to quadrotors with linearized dynamics, and simulations are provided to typify the theoretical results.

Paper:
https://ieeexplore.ieee.org/abstract/document/8368300/


Kaveh Fathian, Tyler Summers, Nicholas Gans

University of Texas at Dallas, USA.

Email: kavehfathian@gmail.com,  kaveh.fathian@utdallas.edu

Website: https://sites.google.com/view/kavehfathian