Decentralized policies for geometric pattern formation and path coverage

@inproceedings{Pavone2006DecentralizedPF,
  title={Decentralized policies for geometric pattern formation and path coverage},
  author={Marco Pavone and Emilio Frazzoli},
  year={2006}
}
This paper presents a decentralized control policy for symmetric formations in multi-agent systems. It is shown that n agents, each one pursuing its leading neighbor along the line of sight rotated by a common offset angle α, eventually converge to a single point, a circle or a logarithmic spiral pattern, depending on the value of α. In the final part of the paper, we present a strategy to make the agents totally anonymous and we discuss a potential application to coverage path planning. 
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