This paper presents a decentralized control policy for symmetric formations in multiagent systems. It is shown that agents, each one pursuing its leading neighbor along the line of sight rotated by a common offset angle , eventually converge to a single point, a circle or a logarithmic spiral pattern, depending on the value of . In the final part of the paper, we present a strategy to make the agents totally anonymous, and we discuss a potential application to coverage path planning.
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.Copyright © 2007
by American Society of Mechanical Engineers
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