Distributed Formation Algorithm for Multi-agent Systems with a Relaxed Connectivity Condition

Abstract This paper proposes a distributed formation algorithm for multi-agent systems with a relaxed connectivity condition. In our study, velocity information exchange among agents depends on the group communication topology, and the available position information flows among agents are determined by a special subgraph of the communication topology. Our distributed formation algorithm guarantees that once this subgraph is connected at some time instant, the topology will keep connected thereafter, and the formation objective of a multi-agent system is proved to achieve in a completely distributed style.

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