We design a framework for a group of autonomous smart cars that allows them to come into a formation and for one to join the formation or leave the formation (we call it CJL). We propose a concept of switching distance to make the formation change more smoothly. Because a control input of any one of cars is constrained for a CJL, we will discuss its control algorithms. Some simulations will be shown in this paper. They will prove that the ability of the framework to realize a formation control.
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