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Formations of multi-agent systems, such as satellites and aircraft, require that individual agents satisfy their kinematic equations while constantly maintaining inter-agent constraints. In this paper, we develop a systematic framework for studying formations of multiagent systems. In particular, we consider undirected formations for centralized formations and directed formations for decentralized formations. In each case, we determine differential geometric conditions that guarantee formation feasibility given the individual agent kinematics. Our framework also enables us to extract a smaller control system that describes the formation kinematics while maintaining all formation constraints.
mobile robots, multi-agent systems, robot kinematics, vehicles, agent kinematics, aircraft, centralized formations, decentralized formations, differential geometric conditions, directed formations, feasible multi-agent system formations, inter-agent constraints, kinematic equations, satellites, undirected formations
Date Posted: 30 April 2005