Forced Variational Integrators for the Formation Control of Multiagent Systems

  title={Forced Variational Integrators for the Formation Control of Multiagent Systems},
  author={Leonardo Jesus Colombo and H{\'e}ctor Garc{\'i}a de Marina},
  journal={IEEE Transactions on Control of Network Systems},
Formation control of autonomous agents can be seen as a physical system of individuals interacting with local potentials, and whose evolution can be described by a Lagrangian function. In this article, we construct and implement forced variational integrators for the formation control of autonomous agents modeled by double integrators. In particular, we provide an accurate numerical integrator with a lower computational cost than traditional solutions. We find error estimations for the rate of… 

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