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Research questionHow can multiple robots maintain a moving formation while avoiding collisions and preserving stability?Multiple robots must preserve their relative spacing as the group moves, while changing trajectories can bring agents into collision. The formation dynamics must therefore support coordinated motion whose stability can be analyzed.
Multi-agent Systems
Robotics
Latest papersRecent research connected to this question, newest first.Formation Matrix and Energy-based Control of Multi-Agent SystemsThe source addresses multi-agent robots moving on a plane. It develops leader-following and position-based formation-control systems using pairwise spring-damper connections, a formation matrix, and a port-Hamiltonian control-by-interconnection formulation. Stability is analyzed theoretically, with numerical simulations covering multiple scenarios.research paper · Sep 3, 2026
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