A connection between formation infeasibility and velocity alignment in kinematic multi-agent systems

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Flocking of Multiple Mobile Robots Based on Backstepping (2011, background): “In [9], distributed control laws were proposed, such that multiagents converge to a desired formation for both the cases of agents with single integrator and nonholonomic unicycle-type kinematics.”
Distributed Event-Triggered Control for Multi-Agent Systems (2012, background): “Several results concerning multi-agent cooperative control have appeared in the recent literature involving agreement or consensus algorithms [20], [12],[23], formation control [5], [4], [8], [2] and distributed estimation [21],[25].”
Event-triggered control for multi-agent systems (2009, background): “Several results concerning multi-agent cooperative control have appeared in recent literature involving agreement or consensus algorithms [17], [11],[20], formation control [5], [4], [7], [2] and distributed estimation [18],[23].”
Sufficient conditions for connectivity maintenance and rendezvous in leader-follower networks (2010, background): “…systems is an important issue in a number of applications, including multi-agent robotics (Mazo et al. (2004), Loizou and Kyriakopoulos (2008), Dimarogonas and Kyriakopoulos (2008), Arsie and Frazzoli (2007)), networked sensor and health maintenance (Mehyar et al. (2007), Xiao and Boyd…”