Multi-Agent Formation Control Based on Distributed Estimation with Prescribed Performance

Charis J. Stamouli, Charalampos P. Bechlioulis, Kostas J. Kyriakopoulos

Research output: Contribution to journalArticlepeer-review


We consider the distributed simultaneous estimation and formation control problem for swarms of identical mobile agents with limited communication, sensing and computation capabilities. In particular, we develop a novel scalable algorithm that encodes the formation specifications of the swarm via geometric moment statistics, which are estimated by a distributed scheme with prescribed performance guarantees. Based on the locally available information, each agent calculates an estimate of the global formation statistics, which is then employed by its local motion controller, thus creating a feedback interconnection between the estimator and the controller. The proposed scheme guarantees convergence of the global formation statistics to the desired values, while decoupling the estimation performance from the control performance. Moreover, a minimum allowable inter-agent distance can be predetermined so that inter-agent collision avoidance is achieved. Finally, simulation paradigms are provided to validate the approach.

Original languageEnglish (US)
Article number8977390
Pages (from-to)2929-2934
Number of pages6
JournalIEEE Robotics and Automation Letters
Issue number2
StatePublished - Apr 2020


  • Multi-robot systems
  • distributed estimation
  • formation control
  • networked robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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