Stabilization of non-planar multi-agent layered formations with double integrator model

This work provides a rigid graph theory-based solution to the non-planar multi-agent formation control problem where the agents are modeled by a double integrator. The problem addressed in this work consists of one or more agents coordinating the actions of other interacting agents which are operating in a different plane. This can be referred to as layered formation control where the objective is for the agents in both layers to cooperatively acquire a pre-defined formation shape using a decentralized control law. The proposed control strategy is based on regulating the inter-agent distances and a rigorous stability analysis is presented that guarantees convergence of these distances to desired values. Simulation results are provided to support the theoretical results.