Departmental Papers (ESE)


We develop a systematic approach to synthesize distributed control laws for motion coordination in a group of constant-speed kinematic rigid bodies. Parallel and balanced circular formations of mobile agents moving in a three dimensional space are studied, and provably correct steering laws are presented. The resulting steering laws have simple geometric intuitions which are based on the structure of each particular formation.

Document Type

Conference Paper

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Date of this Version



Moshtagh, N.; Jadbabaie, A., "Steering laws for distributed motion coordination of kinematic agents in three dimensions," Decision and Control, 2008. CDC 2008. 47th IEEE Conference on , vol., no., pp.1741-1746, 9-11 Dec. 2008 URL:

Copyright 2008 IEEE. Reprinted from Proceedings of the 47th IEEE Conference on Decision and Control, 2008 (CDC 2008), vol., no., pp.1741-1746, 9-11 Dec. 2008.

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Date Posted: 21 May 2009