Coordinated path following for a multi-agent system of unicycles

We investigate a coordinated path following problem for a multi-agent system of N unicycles. Each unicycle is required to follow its own path while coordinating its motion along its path with the other unicycles. We assume that all the unicycles can communicate with each other. We view coordinated path following as a nested set stabilization problem. Stabilization of the first set corresponds to meeting the path following specification. Stabilization of the second, nested set, corresponds to meeting the coordination specification. The first set is characterized for the multi-agent system of N unicycles and feedback linearization is proposed to stabilize it. We provide sufficient conditions under which the second set is nonempty and stabilize it using feedback linearization.