1Robust Common Reference Estimation and Formation Control for Multi-Agent Systems

In this paper we propose a decentralized coordination strategy that allows a dynamic multi-agent system to estimate a common reference point and achieve arbitrary spatial formations with respect to the estimated point. The method is robust against measurement noise of odometry or inertial navigation. We assume that the agents are mobile point-mass vehicles that do not have access to absolute positions (GPS). Published as: D. Rosa, M. Franceschelli and A. Giua, "Robust common reference estimation and formation contro