Cooperative “curvature-driven” control of mobile autonomous sensor agent network

We present a stable, real time, curvature-driven, control strategy for a network of mobile autonomous sensing agents to move and reconfigure cooperatively in response to a sensed, distributed environment. Our control strategy decouples, in part, the network estimation of the environment and the cooperative management of the agents´ maneuvers and network formation. This framework provides an effective basis for self-organization.