Formation Control and Collision Avoidance in Mobile Agent Systems

A class of multi-agent systems consisting of mobile decisional agents that have to reach and maintain a formation in the space, by avoiding obstacles and not colliding among them is considered. The whole system is modelled as an undirected graph, where each agent is characterized by a time varying set of connected neighbors. Each agent, at each step of its motion, has to decide among three possible behaviors: formation reaching, collision avoidance, restoring its direction after the avoidance of collision. A decentralized controller with a hierarchical behavior decision strategy is proposed