This paper presents a differential game approach to formation control of mobile robots. The
formation control is formulated as a linear-quadratic Nash differential game through the use
of graph theory. Finite horizon cost function is discussed under the open-loop information
structure. An open-loop Nash equilibrium solution is investigated by establishing existence
and stability conditions of the solutions of coupled (asymmetrical) Riccati differential
equations. Based on the finite horizon open-loop Nash equilibrium solution, a receding …

A team of agents consisting of one leader and N followers is considered. The problem in
which the leader is steered towards a target position while the followers create and maintain
a formation about the leader, while avoiding collisions, is posed as a nonlinear differential
game. Dynamic strategies which approximate the solution to the differential game are
constructed. It is shown that for the case in which collisions are not considered the problem
simplifies to a linear-quadratic differential game, for which approximate solutions are …