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Distributed cooperative control of multiple vehicle formations using structural potential functions

Olfati-Saber, Reza and Murray, Richard M. (2002) Distributed cooperative control of multiple vehicle formations using structural potential functions. IFAC Proceedings Volumes, 35 (1). pp. 495-500. ISSN 1474-6670. doi:10.3182/20020721-6-ES-1901.00244.

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In this paper, we propose a framework for formation stabilization of multiple autonomous vehicles in a distributed fashion. Each vehicle is assumed to have simple dynamics, i.e. a double-integrator, with a directed (or an undirected) information flow over the formation graph of the vehicles. Our goal is to find a distributed control law (with an efficient computational cost) for each vehicle that makes use of limited information regarding the state of other vehicles. Here, the key idea in formation stabilization is the use of natural potential functions obtained from structural constraints of a desired formation in a way that leads to a collision-free, distributed, and bounded state feedback law for each vehicle.

Item Type:Article
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Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2002 IFAC.
Subject Keywords:Distributed Control, Autonomous Vehicles, Multivehicle Systems, Graph Theory, Formation Stabilization, Potential Functions
Issue or Number:1
Record Number:CaltechAUTHORS:20170824-092713962
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Official Citation:Reza Olfati-Saber, Richard M. Murray, DISTRIBUTED COOPERATIVE CONTROL OF MULTIPLE VEHICLE FORMATIONS USING STRUCTURAL POTENTIAL FUNCTIONS, IFAC Proceedings Volumes, Volume 35, Issue 1, 2002, Pages 495-500, ISSN 1474-6670, (
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:80764
Deposited By: Ruth Sustaita
Deposited On:24 Aug 2017 17:19
Last Modified:15 Nov 2021 19:38

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