摘要：AbstractThis paper deals with the problem of geometric pattern formation by a group of autonomous agents. The patterns are formed by the trajectories of the agents modelled with single integrator kinematics. To achieve this, a distributed control law, which is an extension of the consensus protocol, is presented. The control law allows the freedom to generate different circular formations or trochoidal curves, for any underlying graph topology, which represents the interaction among the agents. The existence of spanning tree is the only condition that the graph needs to satisfy. The patterns is achieved by manipulating the location of the eigenvalues of the overall system in order to achieve the desired pattern. The patterns are annular which can either be closed or can cover the entire space. The patterns are not only aesthetically appealing but can also be used in civilian applications like search, exploration and surveillance. We validate the control law with various examples that present appealing patterns.
