Simulation for Decentralized Motion Control of Multi-agent Flocking and Collaboration

In this paper, a decentralized flocking control is introduced which enables collision free coordination and navigation of agents. This paper presents a set of decentralized control laws for the cohesive motion of 2-dimensional multi-agent formations. In this method, every moving robot decides their own behaviors onboard depending upon the motion initiative of the master agent of the formation. These will reduce the dependency of individual agent on other agents and the communication burden while taking decisions. The main idea of this paper is to develop an adequate computational model under which agents in the formation will perform to coordinate among each other. Agents are free from collision among each other during navigation. These schemes can be used for a multi-agent rover network. An animated simulation platform for flocking has also been developed, which can show the users practical effect of flocking algorithm. These schemes are tested with extensive simulations and responses of agents show satisfactory performances to deal with different environmental conditions.