Global convergence of formation in multi-agent systems without global reference frame

This paper proposes a new distributed formation control law for the multi-agent systems. The acyclic persistent graph is considered, and the system is completely decentralized from the perspective of local sensing. It is assumed that each agent does not know information of the frame of other agents; but it can measure only relative positions of neighbors. It is a contribution of this paper that a global convergence is achieved without using any global sensing information. The stability and convergence of the system is analyzed mathematically, and the simulation is performed to support the analytic results.