Departmental Papers (ESE)


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.

Document Type

Conference Paper

Subject Area


Date of this Version

June 2001


Copyright 2001 IEEE. Reprinted from Proceedings of the 2001 American Control Conference, Volume 1, pages 56-61.
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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