Multiagent flocking with formation in a constrained environment

Yao Lu, Yi Guo, Zhaoyang Dong

Research output: Contribution to journalArticlepeer-review

19 Scopus citations

Abstract

We consider the problem of controlling a group of mobile agents to form a designated formation while flocking within a constrained environment. We first propose a potential field based method to drive the agents to move in connection with their neighbors, and regulate their relative positions to achieve the specific formation. The communication topology is preserved during the motion. We then extend the method to flocking with environmental constraints. Stability properties are analyzed to guarantee that all agents eventually form the desired formation while flocking, and flock safely without collision with the environment boundary. We verify our algorithm through simulations on a group of agents performing maximum coverage flocking and traveling through an unknown constrained environment.

Original languageEnglish
Pages (from-to)151-159
Number of pages9
JournalJournal of Control Theory and Applications
Volume8
Issue number2
DOIs
StatePublished - May 2010

Keywords

  • Flocking
  • Formation control
  • Multiagent system

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