Modeling and Stability Analysis of the Nonholonomic Multi-Agent Formation Problem

This paper addresses the problem of distributed motion control of highly structured formations of nonholonomic multi-agent robotic systems. For concentrating on the multi-agent formation problem, a local stable feedback control laws based on relative distance and angular and bearing measurements are used. There are topological obstructions to globally stable system operation for such laws, but by appropriately switching among them, it is possible to stably control a rich class of formation motions. In this paper, the modeling and stability analysis is obtained to the proposed nonholonomic multi-agent formation systems. Beyond the modeling, a leader´s control configuration is obtained from the cost function of the MFCS with local control of followers. Hence, we start with the fundamental definitions of a noholonomic WMR for looking for the system properties. After extending to the problem of multi-agent formation, an innovative analysis of the platform is provided for the further study on multi-agent cooperation/coordination problem.