Nonlinear PDE–based motion planning for the formation control of mobile agents

Flatness–based motion planning using formal power series and suitable summation methods is considered for the finite–time deployment of multi–agent systems into planar formation profiles. The collective leader–follower agent dynamics is thereby modeled by two boundary controlled nonlinear PDEs governing the positions of the individual agents in the plane. The discretization of the PDE model directly implies a decentralized communication and interconnection structure for the multi-agent system to obtain the desired formation.