Formation control and obstacles avoidance for multi-agent systems based on position estimation

Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative position. Under the proposed strategy, agents can realize the convergence to the desired formation configure if and only if the interaction graph for the agents has a spanning tree. Extra control input is added into the derived control strategy, with the help of detecting obstacles using the relative position and taking avoidance measures using the estimated position, it can also realize obstacle avoidance for agents between themselves.

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