Cohesive Motion Control Algorithm for Formation of Multiple Autonomous Agents

Figure 1

Henneberg construction for making leader-follower type formation from four agents “a”, “b”, “c”, and “d” (i) “a”, “b” are initial vertices with one edge directed towards “a” (leader) from “b” (first follower) (ii) “c” is new vertex added to (i) (iii) “d” is new vertex added to (b).