Decentralized control of heterogeneous multi-agents in collective circular motion

It is an interesting topic to study decentralized control algorithms for a group of agents to achieve a class of collective circular motion, or called torus. An algorithm was proposed in [1] where no global beacon information is required, however, the agents are homogeneous. In particular, it was assumed that the agents have a common nominal rotation radius and share a common reference frame. In this paper, an improved algorithm is proposed on heterogeneous agents by removing the two assumptions.