2014/12/21 by Xudong Chen, Chen, Xudong
Computer Science · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Mobile Ad Hoc Networks #Optimization and Search Problems #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1412.6726
openalex publication_date 2014/12/21 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we investigate a decentralized formation control algorithm for an undirected formation control model. Unlike other formation control problems where only the shape of a configuration counts, we emphasize here also its Euclidean embedding. By following this decentralized formation control law, the agents will converge to certain equilibrium of the control system. In particular, we show that there is a quadratic Lyapunov function associated with the formation control system whose unique local (global) minimum point is the target configuration. In view of the fact that there exist multiple equilibria (in fact, a continuum of equilibria) of the formation control system, and hence there are solutions of the system which converge to some equilibria other than the target configuration, we apply simulated annealing, as a heuristic method, to the formation control law to fix this problem. Simulation results show that sample paths of the modified stochastic system approach the target configuration.