Adaptive rigidity-based formation control of uncertain multi-robotic vehicles

We formulate a graph rigidity-based, adaptive formation control law for multiple robotic vehicles moving on the plane that explicitly accounts for the vehicle dynamics while allowing for parametric uncertainty. We consider a class of underactuated vehicles modeled by Euler-Lagrange-like equations of motion. The control is designed via backstepping while exploiting the structural properties of the system dynamics. A Lyapunov-like analysis shows that the desired formation is acquired asymptotically.