Formation Control for Multi-Agent Systems with Connectivity Preservation   and Event-Triggered Controllers
  In this paper, event-triggered controllers and corresponding algorithms are proposed to establish the formation with connectivity preservation for multi-agent systems. Each agent needs to update its control input and to broadcast this control input together with the relative state information to its neighbors at its own triggering times, and to receive information at its neighbors' triggering times. Two types of system dynamics, single integrators and double integrators, are considered. As a result, all agents converge to the formation exponentially with connectivity preservation, and Zeno behavior can be excluded. Numerical simulations show the effectiveness of the theoretical results. 
Xinlei Yi, Jieqiang Wei, Dimos V. Dimarogonas, Karl H. Johansson
cs.SY math.OC