Formation control of non-holonomic agents with collision avoidance

In this paper a decentralized formation control law to achieve a desired formation and to avoid collision between agents and obstacles for non-holonomic multi-agent systems is proposed. It is assumed that each agent knows its relative position and can detect any object within the sensor range. The controllers are implemented locally on each agent. Stability conditions for achieving desired formation and for avoiding collision are provided. Simulation results to illustrate the proposed controllers are presented.