Resumen de Distributed formation control with time and connectivity constraints

María Guinaldo Losada , José Sánchez Moreno , Sebastián Dormido Bencomo , Dimos V. Dimarogonas

• In this paper, we propose a distributed control law for non-holonomic vehicles that guarantees to achieve the desired formation and location before a given deadline, while maintaining the connectivity of the group. The group is commanded by a a selected subset of the agents, which know the location of the desired objective, while the rest of the vehicles only have information about their relative desired positions respect their set of neighbors. The analytical results are illustrated with a simulation example.