Robust Distributed Planar Formation Control for Higher Order Holonomic and Nonholonomic Agents

In this article, we present a distributed formation control strategy for agents with variety of dynamics to achieve desired planar formation. Our approach is based on the barycentric-coordinate-based (BCB) control, which fully distributed, does not require interagent communication or common sense orientation, and can be implemented using relative position measurements acquired by in their local coordinate frames. This removes need global positioning alignment frames, are required across several existing strategies. We show how BCB simplest dynamical model, i.e., single-integrator dynamics, extended higher order such as quadrotors, nonholonomic unicycles cars. Specifically, our extension preserves convergence robustness guarantees provably robust saturations input unmodeled linear actuator unicycle car agents. further that under proposed design, move along rotated scaled direction without affecting observation used design collision avoidance strategy, often considered literature. demonstrate simulations robotic platform test experimentally. experimental consists off-the-shelf equipment validate other multiagent algorithms. The code implementation instructions available online.