Dynamic leader selection based on approximate manipulability

As the development of technology, UAV (Unmanned Aerial Vehicle) is becoming smaller and cheaper, and the demand of operating UAVs in group grows larger. In the operation of group UAVs, it is important that who the leaders should be and who the followers will be. We use multi agent technique to this problem. This study proposes the mechanism of leader selection based on approximate manipulability. The approximate manipulability of each agent can be calculated by the movements of neighboring agents against itself. In the proposed method, the leaders are selected dynamically. Simple computer simulation shows the effectiveness of the method.