#### Directed Formation Control of n Planar Agents with Distance and Area Constraints

##### Tairan Liu, Marcio de Queiroz, Pengpeng Zhang, Milad Khaledyan

In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance and area-based scheme for the formation control of $n$-agent systems in two dimensions using directed graphs and the single-integrator model. We show that under certain conditions on the edge lengths of the triangulated desired formation, the control ensures almost-global convergence to the correct formation.

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