Deployment of a Multi-Agent System on a Desired Formation

  • Hossein Rastgoftar


In this chapter, a decentralized control approach for deployment of an arbitrary distribution of a multi-agent system (MAS) on a desired formation in \(\mathbb{R}^{n}\) (n = 1, 2, 3) is proposed, where avoidance of interagent collision is addressed. For this purpose, the motion of an MAS in \(\mathbb{R}^{n}\) is decoupled into n separate 1-D motion problems. For evolution of the q th (q = 1, 2, 3) components of the agents’ positions, two q-leaders are considered, where they guide the q th components of the MAS evolution. The remaining agents are considered as q-followers, where they update the q th components of their positions through local communication with the communication weights that are consistent with the q th components of the agents’ positions in the final configuration.

Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  • Hossein Rastgoftar
    • 1
  1. 1.Department of Aerospace EngineeringUniversity of Michigan Ann ArborAnn ArborUSA

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