Rigid Formation Control of Nonholonomic Multi-Agents Available to Purchase

In this paper we address the formation control problem of maintaining rigid formation for a group of nonholonomic mobile agents. Explicit consideration of actuator limits at a higher level of control in designing formation trajectories that can theoretically result in zero formation error is the main contribution we make. In particular we consider a positive lower bound on the agent speed, to account for stall speeds of fixed winged UAVs. We provide sufficient conditions on the controls that would ensure feasible formation trajectories. The approach we propose is supported with preliminary simulation results.