Minimally rigid formations control for multiple nonholonomic mobile agents

In this paper, a decentralized feedback control strategy that drives a system of multiple nonholonomic unicycles to a desired minimally rigid formation in terms of the relative position measurement is proposed. The proposed control law is based on the adaptive perturbation method, and it can guarantee that the initially connected communication graph which is minimally rigid remains minimally rigid for all time, and that the multiple nonholonomic system achieves the uniquely desired minimally rigid formation. Simulation results are provided to illustrate the effectiveness of the control algorithm.