Distributed Coordination of Autonomous Self-Organizing Agents Based on Circle-Forming

The various components sophisticated behavior can be displayed by systems composed of a large number of agents, each of which has limited intelligence and exhibits simple behaviors. How to control and coordinate this kind of agents to accomplish a prescribed task is of great interest. Aiming at exploring the self-organized behaviors of agents, this paper takes the ldquocircle-formingrdquo problem, one of the most important coordination problems, as the specific task assigned to a group of agents and proposes to use coordination fields as the agentspsila coordination law. The simulation results show that the proposed method is simple and efficient for agents to successfully achieve their circle-forming task in a coordinated way and yield emergent and interesting behaviors among agents.