2023
Combined Leaderless Control of Translational, Shape-Preserving, and Affine Multirobot Formations
RA-L 2023
This letter considers existing leaderless distributed controllers that achieve three types of planar multirobot formation. Concretely, these formations are equal to a reference configuration up to translation (type F1), shape-preserving transformation (type F2), and affine transformation (type F3).