Collision-free formation control for multi-agent systems with dynamic mapping

In this paper, a formation control strategy is proposed for multiple elliptical agents. The multiple elliptical agents can form a predefined formation in any 2D space. The controller is based on the neighborhood of each agent and the optimal mapping decision for the whole group. The collision-free algorithm is built based on direction and distance of avoidance group of each agent. A novel adaptive random mapping algorithm is established to obtain the optimal mapping to enhance the effectiveness. Simulation results are given to illustrate the performance of the formation control strategy.Yutong Liu, Peng Shi, Cheng-Chew Li