Circle Formation Control for Multi-agent Systems with Connectivity Preservation

In this paper, we study a kind of circle formation control for multi-agent systems that can maintain connectivity. We need to control agents with a finite radius of investigation to form the prospective circle formation, that is, the distance between adjacent nodes reaches the pre-designed distance, and the distance between adjacent nodes is always smaller than the radius of connection. Then, a formation control law with connectivity preserving and input saturation is designed, which is expected to maintain connectivity while forming formation. In the end, a numerical simulation is presented to show the validity of the proposed control law.