Formation-scaling strategy for an acyclic triangular formation: Distance-based approach

In this paper, we propose an idea for distance-based scaling of a directed formation of mobile autonomous agents in the plane. Based on the formation control strategies found in the literature, we introduce modified control laws that can be applied to single-integrator modeled agents so that the agents achieve the desired formation and formation scaling. We provide full analysis that figures out exact conditions for the convergence of the agents to the desired formation. Simulation results to support our analysis are included.