Self-aggregation in multi-agent shape control

This paper presents a new interactive force in shape control to deal with group fragmentation during movement toward a desired shape. The proposed interactive force can maintain minimum distance between agents as well as group unity. Unlike other collective potential functions which have only one local minima, the proposed one has a local minima area which increase the flexibility of group during movement in obstacle based environment. In fact this potential function divides the area around each agent into four distinct areas: separation area, neutral area, attractive area and inactive area. Simulation results show the performance of the proposed interactive force during maneuvering of agents in multi-obstacle environment.