  A multi-agent system comprises numerous agents that autonomously make
decisions to collectively accomplish tasks, drawing significant attention for
their wide-ranging applications. Within this context, formation control emerges
as a prominent task, wherein agents collaboratively shape and maneuver while
preserving formation integrity. Our focus centers on cyclic pursuit, a method
facilitating the formation of circles, ellipses, and figure-eights under the
assumption that agents can only perceive the relative positions of those
preceding them. However, this method's scope has been restricted to these
specific shapes, leaving the feasibility of forming other shapes uncertain. In
response, our study proposes a novel method based on cyclic pursuit capable of
forming a broader array of shapes, enabling agents to individually shape while
pursuing preceding agents, thereby extending the repertoire of achievable
formations. We present two scenarios concerning the information available to
agents and devise formation control methods tailored to each scenario. Through
extensive simulations, we demonstrate the efficacy of our proposed method in
forming multiple shapes, including those represented as Fourier series, thereby
underscoring the versatility and effectiveness of our approach.
