Bounded formation control of multiple agents with limited sensing

We present a constructive method to design bounded cooperative controllers that force a group of N mobile agents with limited sensing ranges to stabilize at a desired location, and guarantee no collisions between the agents. The control development is based on new general potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision between any agents occurs. Smooth and p times differential jump functions are introduced and embedded into the potential functions to deal with the agent limited sensing ranges.