Moshtagh, NimaJadbabaie, Ali2023-05-222023-05-222008-12-092009-05-21https://repository.upenn.edu/handle/20.500.14332/33692We develop a systematic approach to synthesize distributed control laws for motion coordination in a group of constant-speed kinematic rigid bodies. Parallel and balanced circular formations of mobile agents moving in a three dimensional space are studied, and provably correct steering laws are presented. The resulting steering laws have simple geometric intuitions which are based on the structure of each particular formation.GRASPPresentation