On Control for Agents Formation

  • Rafael Kelly
  • Eusebio Bugarin
  • Carmen Monroy
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4529)


Agents control has a broad spectrum of applications in computer science, communications and robotics. This paper focuses on formation of mobile agents, that is, configuration of points in the plane without kinematic restrictions of motion. Several goal formation strategies may be of interest. This paper summarizes control systems for achieving three basic formation structures, namely, absolute positioning with order, absolute positioning without order, and relative positioning with order. Mainly, the paper is devoted to describe each of the above schemes as well as control systems to deal with. Two of the control systems have been already reported in the literature and the remaining one is an original contribution of the paper. The control law proposed is based in the concept of associative memories. Also, simulations are presented to validate the expected behavior.


Agents Control Systems Stability 


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Copyright information

© Springer Berlin Heidelberg 2007

Authors and Affiliations

  • Rafael Kelly
    • 1
  • Eusebio Bugarin
    • 1
  • Carmen Monroy
    • 2
  1. 1.CICESE. Apdo. Postal 2615, Adm. 1, Carretera Tijuana–Ensenada Km. 107, Ensenada, B.C., 22800Mexico
  2. 2.Instituto Tecnológico de la Laguna. Apdo. Postal 49, Adm. 1, Torreón, Coahuila, 27001Mexico

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