FORMATION STABILIZATION OF MOBILE AGENTS USING LOCAL POTENTIAL FUNCTIONS

Abstract

We present a constructive method to design cooperative controllers that force a group of mobile agents to stabilize at a desired location in terms of both shape and orientation while guaranteeing no collisions between the agents. The control development is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision occurs. Several simulation examples are included to illustrate the approach throughout the paper.