SOURCE-LINKED INTELLIGENCE
Formation Matrix and Energy-based Control of Multi-Agent Systems
This paper presents an energy-based controller for a multiagent robotic system designed to achieve and maintain a specific formation while moving on a plane and avoiding collisions between agents. The controller emulates a network of elementary spring-damper modules connecting pairs of agents. This network, with its de-energized states representing the desired formation, determines the system's dynamics, which is fully encapsulated by a bond graph model. The modeling is further enhanced through the introduction of a formation matrix, using a graph-theoretic approach, that describes both the di
Read original source ↗ Open in workspace
- recordType
- paper
- region
- Global
Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-03T17:49:06.000Z
First collected: 2026-09-21T04:31:57.454Z. This is not the publication date.