Decentralized control of multi-agent systems for swarming with a given geometric pattern

This paper addresses a problem of cooperative formation control of a network of selfdeployed autonomous agents. We propose a decentralized motion coordination control for the agents so that they collectively move in a desired geometric pattern from any initial position. There are no predefined leaders in the group and only local information is required for the control. The control algorithm is developed using the ideas of information consensus, and its effectiveness is illustrated via numerical simulations.