This paper considers the problem of deploying an arbitrary multi-agent system in a desired formation over an n-dimensional motion space. Each agent is considered to be a ball and collision avoidance is addressed. System evolution in ℝn is decomposed into n one dimensional motion problems, where evolution of the agents qth (q = 1, 2, 3) components are independently guided by two q-leaders. The remaining agents are considered q-followers, updating the qth component of their positions by local interactions with two neighboring q-agents. Communications among the q-agents are weighted by values consistent with the qth position components of agents in the desired configuration. This paper shows how specifying certain constraints on q-leader motion can address the problem of inter-agent collision avoidance when followers acquire their desired positions only by local communication.

This content is only available via PDF.
You do not currently have access to this content.