Scalable multi‐agent formation control under switching leader–follower directed graph Academic Article uri icon

abstract

  • AbstractThis work considers formation control of single integrator agents interconnected under switching leader–follower network, where the size of the formation is scalable via a scaling factor determined by a leader agent. Past works on scalable formation are limited to the case where the communication network is considered to be fixed. This work proposes a new distributed algorithm for scalable formation problem that works under a switching network. The scaling is based on the location of the origin of the formation which can be adjusted by the leader agent. In addition, agents move together along a center path where the offset of the center path can also be adjusted by the leader agent. Numerical examples are shown to illustrate the proposed approach.

authors

  • Djamari, Djati Wibowo
  • Nurprasetio, Ignatius Pulung
  • Veza, Ibham
  • Triawan, Farid
  • Budiman, Bentang Arief

publication date

  • 2022

number of pages

  • 14

start page

  • 3175

end page

  • 3189

volume

  • 24

issue

  • 6