Pappas, George JTanner, Herbert G.Kumar, Vijay2023-05-222023-05-222004-06-012010-08-24https://repository.upenn.edu/handle/20.500.14332/39955The paper investigates the stability properties of mobile agent formations which are based on leader-following. We derive nonlinear gain estimates that capture how leader behavior affects the interconnection errors observed in the formation. Leader to formation stability (LFS) gains quantify error ampli£cation, relate interconnection topology to stability and performance and offer safety bounds for different formation topologies. Analysis based on the LFS gains provides insight to error propagation and suggests ways to improve the safety, robustness and performance characteristics of a formation.GRASPEngineeringMechanical EngineeringArticle