Abstract — This paper demonstrates the testbed implementation of a simple algorithm for cooperatively locating and following environmental boundary in two-dimensional space. The algorithm alternates between clockwise and counterclockwise motion along circular paths. By switching the orientation of rotation upon crossing the boundary, a vehicle is able to continue along its search. Coordination is achieved by changing vehicle speeds depending on the location of other vehicles. I.

Abstract: We present a new coordinated control law for a group of vehicles in the plane that stabilizes an arbitrary desired group shape. The control law is derived for an arbitrary shape using models of tensegrity structures which are spatial networks of interconnected struts and cables. The symmetries in the coupled system and the energy-momentum method are used to investigate stability of relative equilibria corresponding to steady translations of the prescribed rigid shape. Copyright c○2006 IFAC. Keywords: Co-operative control, Geometric approaches, Nonlinear control 1.