Consensus-based formation control with dynamic role assignment

In this paper, dynamic role assignment and collision avoidance based on consensus tracking algorithm are investigated for systems with complete communication graph. First, based on the traditional consensus protocol, consensus-based control algorithm with dynamic role assignment is proposed. To make each agent reach the closest formation point, we give an efficient assignment solution by solving an optimal problem with Hungarain algorithm. Second, by constructing collision avoidance potential functions, modified consensus algorithms containing corresponding gradient terms are presented for multi-agents systems, which guarantee collision avoidance. Simulation results show the effectiveness of the proposed algorithms.