Multiagent coordination exploiting system symmetries

This paper presents results related to the multiagent formation control problem. Symmetries in the system are exploited to simplify the stability analysis and control synthesis problem for symmetric systems. The type of symmetry considered is a discrete symmetry where individual agents are either identical or have dynamics that are diffeomorphically related. These results are applicable to both distributed as well as non-distributed coordination methods and are demonstrated with simulation results for systems taken from the literature.