# Stability Analysis of Stochastically Varying Formations of Dynamic Agents

### Vijay Gupta, Babak Hassibi, Richard M. Murray

2003 Conference on Decision and Control (CDC)

We analyze a network of dynamic agents where the topology of the network specifies the information flow between the agents. We present an analysis method for such a system for both consensus and formation stabilization problems. We consider the case of agent dynamics being a single integrator in more detail to show the general features introduced by the information flow. Then we show that the method of analysis can be extended to more general cases of complicated agent dynamics, non-ideal links for information flow, etc. We also consider the case when the topology of the network is changing over time. The focus of the paper is on obtaining conditions for the stability of the formation that can be checked in a decentralized way. Some simple examples are also presented.

- Conference

Paper: http://www.cds.caltech.edu/~murray/preprints/ghm03-cdc.pdf

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