Nguyen M.T.Maniu C.S.Olaru S.Grancharova A.2024-07-102024-07-102024-07-102024-07-102014-12-2310.1109/CoDIT.2014.6996930SCOPUS_ID:84921359207https://rlib.uctm.edu/handle/123456789/327This paper deals with the task assignment problem, which represents a major issue in dynamical formation control. The formation is defined in terms of a group of homogeneous dynamical agents. The position of each agent in the formation is predetermined by pre-imposing the distance between each pair of agents. Recently by using set-theoretic methods, the task assignment has been formulated in terms of an optimization problem allowing to keep the agents in a tight formation in real-time. In this paper we revisit these results and propose a new algorithm for the task assignment formulation in view of real-time control by including fault detection and isolation capabilities. The proposed methods will be illustrated by means of a numerical example.enConference Paper