In this research, we develop a simulation-based multi-agent system for a rescue team. The agent communication is developed using graph representation. The agent tracks the people and maintains their position to prevent the target from lost.

Open Topics: Cooperative Control of moving agents, obstacle avoidance, scalable formation

Scalable Formation Control of Double Integrator Agents: A Distributed Observer Approach (SICE 2020)

This work studies formation control of double integrator agents where its formation size is scalable via a scaling factor (scalable formation). Previous works on scalable formation are limited to either fixed undirected graph or fixed directed graph with p-rooted graph condition. This work proposes a novel distributed algorithm for scalable formation based on a distributed observer to estimate agents’ positions. The novel algorithm results in a new matrix, a Laplacian matrix with additional diagonal terms, where the desired formation pattern is embedded in this diagonal terms. With the proposed algorithm, only spanning tree condition is needed as the necessary and sufficient condition to achieve the scalable formation. Numerical examples are shown to illustrate the proposed method

Distributed Observer Approach for Scalable Formation Control of Multi-Agent Network (ISITIA 2020)

This work studies formation control of Multi-Agent Systems (MASs) where its formation size is scalable via a scaling factor (scalable formation). Previous works on scalable formation are limited to either fixed undirected graphs or fixed directed graphs with p-rooted graph conditions. This work proposes a novel distributed algorithm for scalable formation based on a distributed observer to estimate agents’ positions. The novel algorithm results in a new matrix, a Laplacian matrix with additional diagonal terms, where the desired formation pattern is embedded in this diagonal terms. With the proposed algorithm, only the spanning tree condition is needed as the necessary and sufficient condition to achieve scalable formation. Numerical examples are shown to illustrate the proposed method