Formation control of Multi-agents Based on Method of Matrices

Abstract

Formation control is one of the most actively studied topics in multi-agents systems, in which all agents will form a desired formation to complete certain tasks. In this paper, a method of matrices is proposed to describe information about formation. Additionally, a flocking algorithm with virtual agents is proposed to control all agent to complete task of desired formation. Simulation results show that all agents can form a desired formation and their velocities consensus are verified.