A new definition of formation with an algorithm

Guisheng Zhai, Junya Takeda, Tomoaki Kobayashi, Joe Imae

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, we propose a new definition of formation for multi-agent systems. More precisely, we consider the kind of formation where several leading agents (called "framers") form a desired convex shape while other agents (called "followers") are required to be inside that shape. Under the assumption that all agents except the leading ones are controlled depending on local information, we propose an algorithm achieving the above-mentioned formation. Finally, we give a numerical example to demonstrate effectiveness of the algorithm.

Original languageEnglish
Title of host publication2nd IFAC International Conference on Intelligent Control Systems and Signal Processing
PublisherIFAC Secretariat
EditionPART 1
ISBN (Print)9783902661661
Publication statusPublished - 2009
Externally publishedYes

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
ISSN (Print)1474-6670


  • Decentralized control
  • Follower
  • Formation
  • Framer
  • Multi-agent systems

ASJC Scopus subject areas

  • Control and Systems Engineering


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