Approximate Control of Formations of Multiagent systems

In this paper we are investigating how the local controllability properties of each agent interplays with the motion feasibility of the complete multiagent system, studying systems that are either small time locally controllable (STLC), or locally controllable but in bounded time. We present an approximation strategy, which allows us to plan the motion of the system using fully actuated holonomic vehicles, and to incorporate the constraints on the motion of the agents in a latter step, satisfying the formation constraints arbitrarily well. We apply this approximation strategy to tracking both static trajectories or arbitrary moving references.