{"@context":["https://w3id.org/fdo/context/v1",{"schema":"https://schema.org/","prov":"http://www.w3.org/ns/prov#","fdo":"https://w3id.org/fdo/vocabulary/"}],"@id":"https://fdo.portal.mardi4nfdi.de/fdo/Q1667030","@type":"DigitalObject","kernel":{"@id":"https://fdo.portal.mardi4nfdi.de/fdo/Q1667030","digitalObjectType":"https://schema.org/ScholarlyArticle","primaryIdentifier":"mardi:Q1667030","kernelVersion":"v1","immutable":true,"modified":"2026-03-31T04:48:40Z"},"profile":{"@context":"https://schema.org","@type":"ScholarlyArticle","@id":"https://portal.mardi4nfdi.de/entity/Q1667030","name":"Finite-time formation control without collisions for multiagent systems with communication graphs composed of cyclic paths","headline":"Finite-time formation control without collisions for multiagent systems with communication graphs composed of cyclic paths","description":"scientific article; zbMATH DE number 6927656","url":"https://portal.mardi4nfdi.de/entity/Q1667030","datePublished":"2018-08-27","author":[{"@id":"https://portal.mardi4nfdi.de/entity/Q1667026"},{"@id":"https://portal.mardi4nfdi.de/entity/Q1667029"},{"@id":"https://portal.mardi4nfdi.de/entity/Q389803"},{"@id":"https://portal.mardi4nfdi.de/entity/Q389805"}],"publisher":[{"@id":"https://portal.mardi4nfdi.de/entity/Q86199"}],"identifier":{"@type":"PropertyValue","propertyID":"doi","value":"10.1155/2015/948086","url":"https://doi.org/10.1155/2015/948086"},"sameAs":["https://doi.org/10.1155/2015/948086"],"comment":"Summary: This paper addresses the formation control problem without collisions for multiagent systems. A general solution is proposed for the case of any number of agents moving on a plane subject to communication graph composed of cyclic paths. The control law is designed attending separately the convergence to the desired formation and the noncollision problems. First, a normalized version of the directed cyclic pursuit algorithm is proposed. After this, the algorithm is generalized to a more general class of topologies, including all the balanced formation graphs. Once the finite-time convergence problem is solved we focus on the noncollision complementary requirement adding a repulsive vector field to the previous control law. The repulsive vector fields display an unstable focus structure suitably scaled and centered at the position of the rest of agents in a certain radius. The proposed control law ensures that the agents reach the desired geometric pattern in finite time and that they stay at a distance greater than or equal to some prescribed lower bound for all times. Moreover, the closed-loop system does not exhibit undesired equilibria. Numerical simulations and real-time experiments illustrate the good performance of the proposed solution.","citation":[{"@id":"https://portal.mardi4nfdi.de/entity/Q5273737"},{"@id":"https://portal.mardi4nfdi.de/entity/Q5282207"},{"@id":"https://portal.mardi4nfdi.de/entity/Q5273923"},{"@id":"https://portal.mardi4nfdi.de/entity/Q5273870"},{"@id":"https://portal.mardi4nfdi.de/entity/Q2716030"},{"@id":"https://portal.mardi4nfdi.de/entity/Q2426592"},{"@id":"https://portal.mardi4nfdi.de/entity/Q4943739"},{"@id":"https://portal.mardi4nfdi.de/entity/Q1407764"},{"@id":"https://portal.mardi4nfdi.de/entity/Q4160779"},{"@id":"https://portal.mardi4nfdi.de/entity/Q3309568"}]},"provenance":{"prov:generatedAtTime":"2026-03-31T04:48:40Z","prov:wasAttributedTo":"MaRDI Knowledge Graph"}}