On distance-based formation control: A nonlinear mapping approach and its applications

This paper introduces a novel decentralized distance-based formation controller for multi-agent systems by imposing constraints on inter-agent distance errors. Using a Nonlinear Mapping Technique (NMT) for dealing with the distance errors constraints, the problems of connectivity maintenance and collision avoidance between neighboring agents are handled. Furthermore, the proposed control scheme increases formation robustness and prevents convergence of the formation to incorrect shapes when external effects such as disturbances exist. Using Lyapunov based analysis the results are proved for both single and double integrator agent models where the target formation is minimally and infinitesimally rigid in 2-D or 3-D space.