Motion feasibility of multi-agent formations

Feasible Formations of Multi - Agent Systems 1

Feasible Formations of Multi-Agent Systems

Formations of multi-agent systems, such as satellites and aircraft, require that individual agents satisfy their kinematic equations while constantly maintaining inter-agent constraints. In this paper, we develop a systematic framework for studying formations of multiagent systems. In particular, we consider undirected formations for centralized formations and directed formations for decentrali...

Distributed Attitude Control of Multi-Agent Formations

This paper addresses the problem of how to coordinate the spatial motion of individual agents in a multi-agent system in such a way that the distance between any two agents is maintained at a constant value (but not stabilized) throughout the evolution of the system while simultaneously rotating the formation of agents to a pre-set reference attitude. We propose a distributed control law based ...

Prioritized Formations for Multi-Agent Group Navigation

We present a novel approach for locally guiding a group of agents amidst static and dynamic obstacles using the concept of prioritized formations. Our approach plans over a joint formation-velocity space employing a Bayesian scheme for evaluating the priority values of formations and a collision avoidance algorithm that accounts for the anisotropic nature of rotating formations. It guarantees c...

Control of Multi-Agent Formations with Only Shape Constraints

This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here the only requirement on the desired geometry is a shape without any location, rotation and, most importantly, scale constraints. Optimal rigid transformation between two...