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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2021
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2102.13621 |
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Table of Contents:
- A decentralized feedback controller for multi-agent systems, inspired by vehicle platooning, is proposed. The closed loop resulting from the decentralized control action has three distinctive features: the generation of collision-free trajectories, flocking of the system towards a consensus state in velocity, and asymptotic convergence to a prescribed pattern of distances between agents. For each feature, a rigorous dynamical analysis is provided, yielding a characterization of the set of parameters and initial configurations where collision avoidance, flocking, and pattern formation are guaranteed. Numerical tests assess the theoretical results presented.