A survey of multi-agent formation control

TL;DR: Several convex polytopes have been constructed to approximate rotation behaviors under the action of constrained mismatched compasses to design a control gain matrix in view of the contracting mapping principle and illustrate that all the agents can converge to the desired formation shape exponentially fast.

TL;DR: In this paper, the authors present an overview of the literature focusing on optimization approaches to achieve flocking behavior that provide strong safety guarantees, and separate the literature into cluster and line flocking, and categorize cluster flocking with respect to the system-level objective which may be realized by a reactive or planning control algorithm.

TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.

TL;DR: A theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in network topology due to link/node failures, time-delays, and performance guarantees is provided.

TL;DR: In this article, an approach based on simulation as an alternative to scripting the paths of each bird individually is explored, with the simulated birds being the particles and the aggregate motion of the simulated flock is created by a distributed behavioral model much like that at work in a natural flock; the birds choose their own course.

TL;DR: The Laplacian of a Graph and Cuts and Flows are compared to the Rank Polynomial.