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This paper presents a novel control protocol for distance and orientationformation control of rigid bodies, whose sensing graph is a static andundirected tree, in the special Euclidean group SE(3). The proposed controllaws are decentralized, in the sense that each agent uses only local relativeinformation from its neighbors to calculate its control signal, as well asrobust with respect to modeling (parametric and structural) uncertainties andexternal disturbances. The proposed methodology guarantees the satisfaction ofinter-agent distance constraints that resemble collision avoidance andconnectivity maintenance properties. Moreover, certain predefined functionscharacterize the transient and steady state performance of the closed loopsystem. Finally, simulation results verify the validity and efficiency of theproposed approach.

Robust Formation Control in SE(3) for Tree-Graph Structures with Prescribed Transient and Steady State Performance