The paradigmatic formation control problem of steering a multi-agent system
towards a balanced circular formation has been the subject of extensive studies
in the control engineering community. Indeed, this is due to the fact that it
shares several features with relevant applications such as distributed
environmental monitoring or fence-patrolling. However, these applications may
also present some relevant differences from the ideal setting such as the curve
on which the formation must be achieved not being a circle, or the measurements
being neither ideal nor as a continuous information flow. In this work, we
attempt to fill this gap between theory and applications by considering the
problem of steering a multi-agent system towards a balanced formation on a
generic closed curve and under very restrictive assumptions on the information
flow amongst the agents. We tackle this problem through an estimation and
control strategy that borrows tools from interval analysis to guarantee the
robustness that is required in the considered scenario
