Radar deception problems serve as a motivation to address the key issue of feasibility in trajectory planning for constrained dynamics of multi-agent systems. In a recent paper, Jayasuriya et al. presents an algorithm which claims to produce a dynamically feasible reference trajectory in real time. However, there was no proof provided for the proposed control strategy. This paper work through that algorithm; and, with a slight modification, provides some conditions on configuration parameters and the desired trajectory such that the proposed control guarantees consensus. These conditions dictate certain conditions on the initial configuration of the agents, consistent with the limitations on their actuators. Simulations support the idea that if the initial configuration along the final team goal is in admissible regions, the agents would always reach a consensus and maintain the formation.

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