- Implementation of Formation Control and Path Scheduling in Multi-Agent Systems
- Project Year:
2018
- REU Student (s):
Aubrey Hormel | Missouri State University-Springfield MO
- Student 1 Institution:
Missouri State University-Springfield
- Project Mentor:
Jingjin Yu
- Project Mentor Area:
Computer Science
- Project Abstract:
To move a group of agents over a graph from some initial to arbitrary target positions, I implement previously proposed algorithms for formation control and agent path scheduling. The arbitrary graph simple and connected, with unit edge lengths between adjacent vertices. Moreover, agents in the system are indistinguishable and allowed to travel to the best position in the target formation as determined by the control policy. These algorithms ensure that over all agents, a minimum distance is traveled, give a definite amount of time for agents to achieve the target formation, and eliminate the possibility of agent collision.
