Coordination of Multiple Agents in 2D using an Internet-Like Protocol

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Abdallah, Chaouki T.; Sandoval-Rodriguez, Rafael; Hokayem, Peter F.; Byrne, Raymond H.
article description
This work presents an Internet-Like Protocol (ILP) to coordinate the formation of n second-order agents in a two dimensional (2D) space. The trajectories are specified trough via points and a desired formation at each point. Simulink is used to verify the response of the agents in the desired trajectories.