Finite-time Circle Formation Control with Collision Avoidance

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In this paper, we study the finite-time circle formation control problem for multiple agents, where each agent is moving freely in a plane and is merely able to perceive the relative position information of a given target and its neighbors, with the aim of converging to the desired circle surrounding the target point at a preset time and maintaining desired distances from their neighbors. To this end, we design a distributed controller which has a good feature that there is no collision among the agents during forming the desired formation. To demonstrate the effectiveness and good performance of our proposed finite-time circle formation controller, we provide both theoretical analysis and numerical simulations.

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