Reliable Control of Multi-Agent Formations

In this paper we address the problem of reliably teleoperating a group of remotely located robotic agents. The human operator provides a desired position that the formation should converge to and gets feedback on the location of the center-of-mass of the formation through a locally installed master system. We prove that this architecture is input-to-state stable and exploit this property to guarantee stability of the overall formation under communication unreliability such as time-varying delays and quantization. We provide a numerical simulation that illustrates our theoretical analysis.