Formation control for large scale multi-agent systems while preserving network connectivity

In this paper, a formation control framework for large scale multi-agent systems is developed in which multiple agents can achieve desired formation motion while preserving network connectivity. Double integrator models are employed for the agents and potential function is used to avoid collision while keeping network connectivity. Formation control laws are designed based on consensus protocols and artificial potential. Automatically, under the assumption that the initial network is connected, agents can select leaders and followers according to desired formation geometric and initial states. Then the leaders form desired formation geometric shape using global information acquired by tel-network while followers track its leaders using the information acquired through local AD HOC network. This approach can realize various kinds of formations for large scale multi-agent systems and greatly reduce data exchange and computing complex. Simulations results show the effectiveness of proposed formation control laws.