Distance-based sequential formation control of mobile agents by using motion primitives

Sequential formation control algorithms are proposed in this paper. The proposed sequential formation control algorithms, using only inter-agent distance information, consist of the sequences of primitive motions of agents according to priorities assigned to them. It is explained that the desired formation of a group of agents will be achieved globally (locally) asymptotically with the proposed sequential formation control algorithms if the information graph of the group is sequentially 3-valent (2-valent). Constructive ways to build up sequentially 2 or 3-valent graphs are described.