Formation motion control for a multi-agent system simulating autonomous robots

The problem of formation motion control is considered for a certain geometric shape consisting of agents that simulate autonomous robots. A virtual leaders-based approach is proposed that ensures automatic changes in formation shape in the process of executing a mission with the establishing or loss of connection with a consecutive agent, along with full interchangeability of agents and presence of measurement noises. The key results presented are the rules of first- and second-order control, plus the results from an analysis of the control and computer simulation algorithm developed on the basis of these rules. © 2015, Allerton Press, Inc.