Broadcast control of multi-agent systems for assembling at unspecified point with collision avoidance

This paper presents a broadcast control problem for multi-agent systems to perform a motion-coordination i.e. assembling tasks without colliding into each other. In this paper, we use potential energy function for the collision avoidance where the agents will move away from the neighbor agents if they are reaching certain distance. In the simulation, the results show that the agents are successfully achieving the assembling task without colliding into each other