%0 Conference Paper
%A García De Marina Peinado, Héctor Jesús
%A Jiménez Castellanos, Juan Francisco
%A Yao, Weijia
%T Leaderless collective motions in affine formation control
%D 2021
%@ 0743-1546
%U https://hdl.handle.net/20.500.14352/129810
%X This paper proposes a novel distributed technique to induce collective motions in affine formation control. Instead of the traditional leader-follower strategy, we propose modifying the original weights that build the Laplacian matrix so that a designed steady-state motion of the desired shape emerges from the agents' local interactions. The proposed technique allows a rich collection of collective motions such as rotations around the centroid, translations, scalings, and shearings of a reference shape. These motions can be applied in useful collective behaviors such as shaped consensus (the rendezvous with a particular shape), escorting one of the team agents, or area coverage. We prove the global stability and effectiveness of our proposed technique rigorously, and we provide some illustrative numerical simulations.
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