Circular formation of networked dynamic unicycles by a distributed dynamic control law

This paper investigates the circular formation control problem of networked dynamic unicycles. Each unicycle uses its local coordinate frame and the topology of the networked unicycles is modeled by a directed graph containing a spanning tree. A distributed dynamic control law is proposed for each unicycle based on the measurement via local sensing and the information of its neighbors via intermittent communication. It is shown that all unicycles can globally converge to the circular motion around a given center which is only known to one unicycle, and can globally converge to a desired spaced formation along the circle. Finally, simulation results of an example verify the effectiveness of the proposed control law.