Distributed Attraction-Repulsion Potential for Multi-Agent Formation Control
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
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2026
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| _version_ | 1866913088165380096 |
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| author | Ban, Hemanta Djouadi, Seddik M. Tomsovic, Kevin |
| author_facet | Ban, Hemanta Djouadi, Seddik M. Tomsovic, Kevin |
| contents | In this paper, a distributed multi-agent formation control driven by the gradient of the Lennard-Jones potential is analyzed. For collision-free initial data, we prove global well-posedness together with a uniform lower bound on all inter-agent distances, thereby excluding hard collisions. Taking the total energy as a Lyapunov function, LaSalle's invariance principle shows that every positive limit point is an equilibrium. Since trajectories remain uniformly away from collisions, the energy is analytic along the flow and an argument yields convergence to a single equilibrium modulo translations. Illustrative numerical examples are presented. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_01161 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Distributed Attraction-Repulsion Potential for Multi-Agent Formation Control Ban, Hemanta Djouadi, Seddik M. Tomsovic, Kevin Systems and Control Dynamical Systems In this paper, a distributed multi-agent formation control driven by the gradient of the Lennard-Jones potential is analyzed. For collision-free initial data, we prove global well-posedness together with a uniform lower bound on all inter-agent distances, thereby excluding hard collisions. Taking the total energy as a Lyapunov function, LaSalle's invariance principle shows that every positive limit point is an equilibrium. Since trajectories remain uniformly away from collisions, the energy is analytic along the flow and an argument yields convergence to a single equilibrium modulo translations. Illustrative numerical examples are presented. |
| title | Distributed Attraction-Repulsion Potential for Multi-Agent Formation Control |
| topic | Systems and Control Dynamical Systems |
| url | https://arxiv.org/abs/2605.01161 |