Achieving formations under medium access, relative position and velocity constraints

We consider the distributed control of multi-agent systems that must collaborate to achieve a formation specified by relative positions between agents and a constant velocity. The control law uses information exchange commensurate with redundancy for fault tolerance, is scalable, and respects medium access control (MAC) constraints, that prohibit two agents from simultaneously broadcasting to the same agent. Unlike this paper, our prior work under MAC constraints did not permit the specification of the formation velocity.