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In this study, we introduce a decentralized control approach to realize formations of multi-agent systems under limited communication. The algorithm meets the requirements for the expansion of large-scale formation numbers. The desired shapes are defined by star-shaped sets, which can be transformed into a circular area. The proposed algorithm leverages multi-agent consensus to compute the parameters of the formation shape, including position, direction, and scaling factor. Simulation results demonstrate that proposed approach can adjust the formation size and separate into sub-groups.

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Distributed Adaptive Formation Shaping Algorithm for Multi-agent Systems

  • 会议论文

  • 发表日期：

    2025年

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  • Zhengyang Zhou,
  • Jianan Wang,
  • Junhui Liu,
  • Jiayuan Shan

摘要

In this study, we introduce a decentralized control approach to realize formations of multi-agent systems under limited communication. The algorithm meets the requirements for the expansion of large-scale formation numbers. The desired shapes are defined by star-shaped sets, which can be transformed into a circular area. The proposed algorithm leverages multi-agent consensus to compute the parameters of the formation shape, including position, direction, and scaling factor. Simulation results demonstrate that proposed approach can adjust the formation size and separate into sub-groups.