Control Barrier Function only Formation Tracking in Multi-Agent Systems

S. Saharsh; Pushpak Jagtap

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arXiv · 2606.25452

Control Barrier Function only Formation Tracking in Multi-Agent Systems

S. Saharsh·Pushpak Jagtap

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Abstract

This paper presents a real-time control framework for formation tracking of heterogeneous multi-agent systems with non-linear dynamics. The proposed method formulates a single Control Barrier Function-like constraint within a quadratic optimization setting that addresses formation tracking. Relying on the relative information of neighboring agents, the controller is designed to operate without the need for manual parameter tuning or a separate nominal formation controller. The leader-follower framework is validated through simulations of moving formations.

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S. Saharsh, Pushpak Jagtap. 2026-06-24. Control Barrier Function only Formation Tracking in Multi-Agent Systems. https://arxiv.org/abs/2606.25452

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