Control of undirected four-agent formations in 3-dimensional space

We investigate a four-agent tetrahedral formation consisting of mobile autonomous agents in 3-dimensional space. The formation shape is required to be maintained only by the given inter-agent distance constraints. We use the gradient control to maneuver the agents to achieve the desired inter-agent distances. We provide analysis on the global behavior of the agents to explain whether or not the agents converge to the desired equilibrium set. Numerical simulation results are also included.