A decentralized robot swarm controller that switches formations when a narrow passage is detected, with a Lyapunov stability proof and simulation/SIL evidence.
A survey of multi-agent formation control,
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Event-based Reconfiguration Control for Time-varying Formation of Robot Swarms in Narrow Spaces
A decentralized robot swarm controller that switches formations when a narrow passage is detected, with a Lyapunov stability proof and simulation/SIL evidence.