Mobile agents formation control in 3D environments based on self organization strategies

This paper presents a method for establishing and maintaining structured formations of mobile agents in a 3D environment using self-organization strategies. In the proposed approach the position of the agents in the formation is not defined a priori and the agents are joined progressively into the structure when they arrive. Agent placement and formation balance are achieved through local interactions. The control strategy is defined by a set of if-then rules which are derived from a Petri net model that represents the agent state and the communication with its neighbors. Simulations regarding a wedge formation control are included.