Formation control of multi-agent systems with environmental influence

In this paper, we discuss multi-agent formation problems with considering the environmental influence. The autonomous agents are moving in a bounded region, and the environment in the region influences the multi-agent systems with designed potential functions. The steady-state formation of the agents is affected by these artificial potential functions. As the number, positions, and potential function forms of environment inputs vary, the multi-agent systems result in different stable formations. Both analysis and simulations results are presented.