@inproceedings{4b162df11068405da70d903847f24635,
title = "A new definition of formation with an algorithm",
abstract = "In this paper, we propose a new definition of formation for multi-agent systems. More precisely, we consider the kind of formation where several leading agents (called {"}framers{"}) form a desired convex shape while other agents (called {"}followers{"}) are required to be inside that shape. Under the assumption that all agents except the leading ones are controlled depending on local information, we propose an algorithm achieving the above-mentioned formation. Finally, we give a numerical example to demonstrate effectiveness of the algorithm.",
keywords = "Decentralized control, Follower, Formation, Framer, Multi-agent systems",
author = "Guisheng Zhai and Junya Takeda and Tomoaki Kobayashi and Joe Imae",
note = "Funding Information: This research has been supported in part by the Japan Ministry of Education, Sciences and Culture under Grant-in-Aid for Scientific Research (C) 21560471. Copyright: Copyright 2021 Elsevier B.V., All rights reserved.",
year = "2009",
doi = "10.3182/20090921-3-TR-3005.00092",
language = "English",
isbn = "9783902661661",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "IFAC Secretariat",
number = "PART 1",
booktitle = "2nd IFAC International Conference on Intelligent Control Systems and Signal Processing",
edition = "PART 1",
}