Pursuit Formation Control Scheme for Double-Integrator Multi-Agent Systems

Pursuit formation control of double-integrator Multi-Agent Systems (MASs) is considered in this paper. To achieve a formation, a hierarchical control scheme is proposed in two layers. In the first layer, in a leaderless architecture, each agent pursues another one in a cyclic topology to achieve a regular polygon formation around a centroid, namely, pursuit centroid, and in the second layer, the agents agree on a pursuit centroid around which they pursue each other. Despite existing cyclic pursuit approaches in the literature which are based on agents with kinematic models and constant forward speeds, the proposed approach is based on agents with double-integrator dynamics without speed constraints. Numerical simulations for a team of six agents confirm the accuracy of the proposed control scheme.