  In this paper, event-triggered controllers and corresponding algorithms are
proposed to establish the formation with connectivity preservation for
multi-agent systems. Each agent needs to update its control input and to
broadcast this control input together with the relative state information to
its neighbors at its own triggering times, and to receive information at its
neighbors' triggering times. Two types of system dynamics, single integrators
and double integrators, are considered. As a result, all agents converge to the
formation exponentially with connectivity preservation, and Zeno behavior can
be excluded. Numerical simulations show the effectiveness of the theoretical
results.
