**:** . .
**:**
**. :** 0421000023\0070

**:** 30.1
**:**
**:** 2010
**:** . . / . 30.1 " ". .: , 2010. .665-680.

** :** , ,

** (.):** multi-agent systems, formation control, linear systems

**:** . : 1) , , ; 2) ( ) , ; 3) , .

.

** (.):** Simple and effective linear local algorithms for agents movement and allocation on a line and on a circle are proposed. They are based on the following assumptions: 1) the total number of agents in the system is unknown; 2) the future position of each agent is defined by its own coordinates and coordinates of its closest neighbors; 3) one or both of end agents may be fixed or movable. Stability and convergence for developed systems are proven and a number of examples are given to demonstrate the work of the proposed algorithms.

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