This article studies 2-D formation stabilization and maneuvering of mobile agents governed by double-integrator dynamics. The desired is described a set triple-agent interior angles. A carefully chosen such angle constraints guarantees that the rigid. To achieve rigid formation, control law proposed using only local velocity direction measurements. We show closed-loop dynamics when each agent m...

Introduction: The leaky integrator is a key subsystem in pulse-mode artificial neuron implementations [1]. In most implementations reported to date this function has been implemented with the explicit use of integrated capacitors and with fixed time constants. More recently it has been noted that mimicking real biological systems is better accomplished if the integrator time constants are adapt...