Gowal, SvenFalconi, RiccardoMartinoli, Alcherio2010-10-252010-10-252010-10-25201010.1109/IROS.2010.5649318https://infoscience.epfl.ch/handle/20.500.14299/56109WOS:000287672001049Using graph theory, this paper investigates how a group of vehicles, endowed with local positioning capabilities (range and bearing to other vehicles), can keep a predefined formation. We propose a longitudinal and lateral controller that stabilizes a system of several vehicles as well as a collision avoidance mechanism. The stability of our approach is supported by a mathematical analysis as well as realistic simulations.intelligent vehiclesdistributed controlgraph theorytext::conference output::conference proceedings::conference paper