Target-point formation control

In this paper a new distributed feedback strategy is proposed for controlling a rigid, acyclic formation of kinematic point-modeled mobile autonomous agents in the plane. The strategy makes use of a new concept called a “target point” and is applicable to any two-dimensional, acyclic formation whose underlying directed graph can be generated by a sequence of Henneberg vertex additions. It is shown that the method can cause a group of agents starting in any given initial positions in the plane to move into a prescribed formation exponentially fast provided the formation’s designated leader and first follower start in different positions.