Realization of $r$ Robust Formations in the Plane Using Control Barrier Functions
This letter presents control laws to drive groups of robots into formations with communication graphs that satisfy the <inline formula> <tex math notation="LaTeX"$r$ /tex math>/inline formula> robustness property, which allows for consensus in the presence of malicious robots. Using results in <inline formula> <tex math notation="LaTeX"$r$ /tex math>/inline formula> robustness and control barrier functions, the presented control laws ensure such formations in finite time, using a reference adjacency matrix or only a desired number of neighboring robots. The results are illustrated through simulations.
IEEE Control Systems Letters