Vehicles in formation often lack global information regarding the state
of all the vehicles, a deficiency which can lead to instability and poor
performance. In this talk, we demonstrate how exchange of minimal
amounts of information between vehicles can be designed to realize a dynamical
system which supplies each vehicle with a shared reference trajectory. When the
information flow law is placed in the control loop, a separation
principle is proven which guarantees stability of the formation and convergence of
the information flow law regardless of the information flow topology. This
is joint work with Alex Fax.
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