A good framework needs to be constructed to achieve the following characteristics:
First, the framework should be decentralized when a large number of agents are involved in the formation and/or there are stringent limitations on intervehichle communications.
Second, formation feedback should be included in the framework to improve group robustness.
Third, the group maneuvers should be easy to prescribe and direct in the framework.
Finally, the framework should guarantee high precision for maintaining the formation during maneuvers.