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42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)
This is the first of a two-part paper that investigates the stability properties of a system of multiple mobile agents with double integrator dynamics. In this first part we generate stable flocking motion for the group using a coordination control scheme which gives rise to smooth control laws for the agents. These control laws are a combination of attractive/repulsive and alignment forces, ensuring collision avoidance and cohesion of the group and an aggregate motion along a common headingdoi:10.1109/cdc.2003.1272910 fatcat:p5gtvxeb3bfiphfmuemljqyiny