title: Rigidity-Based Multiagent Layered Formation Control.
abstract: This paper provides a solution to the nonplanar multiagent formation control problem using graph rigidity. We consider a 3-D multiagent formation control where multiple agents are operating in one plane and some other agents are operating outside of that plane. This can be referred to as a layered formation control where the objective is for all agents to cooperatively acquire a predefined formation shape using a decentralized control law. The proposed control strategy is based on regulating the interagent distances. A rigorous stability analysis is presented that guarantees convergence of these distances to desired values. Simulation results are presented to support the theoretical results.
authors.forename: Saba
authors.initials: S
authors.lastname: Ramazani
authors.forename: Rastko
authors.initials: R
authors.lastname: Selmic
authors.forename: Marcio
authors.initials: M
authors.lastname: de Queiroz