We consider the problem of cooperation among a collection of vehicles performing a shared
task using intervehicle communication to coordinate their actions. Tools from algebraic …

This paper presents control and coordination algorithms for groups of vehicles. The focus is
on autonomous vehicle networks performing distributed sensing tasks, where each vehicle …

This note analyzes the stability properties of a group of mobile agents that align their velocity
vectors, and stabilize their inter-agent distances, using decentralized, nearest-neighbor …

We describe a framework for cooperative control of a group of nonholonomic mobile robots
that allows us to build complex systems from simple controllers and estimators. The resultant …

In this note, we specify an" individual-based" continuous-time model for swarm aggregation
in n-dimensional space and study its stability properties. We show that the individuals …

We propose a model independent coordination strategy for multi-agent formation control.
The main theorem states that under a bounded tracking error assumption, our method …

This is the first of a two-part paper that investigates the stability properties of a system of
multiple mobile agents with double integrator dynamics. In this first part we generate stable …

The paper investigates the stability properties of mobile agent formations which are based
on leader following. We derive nonlinear gain estimates that capture how leader behavior …

We study the convergence speed of distributed iterative algorithms for the consensus and
averaging problems, with emphasis on the latter. We first consider the case of a fixed …

This is the second of a two-part paper, investigating the stability properties of a system of
multiple mobile agents with double integrator dynamics. In this second part, we allow the …