Autonomous Formations of Multi Agent Systems

Autonomous formation control of multiagent dynamic systems has a number of applications that include groundbased and aerial robots and satellite formations. For air vehicles, formation flight ( flocking ) has the potential to significantly increase airspace utilization as well as fuel efficiency. This presentation addresses two main problems in multiagent formations: optimal role assignment to minimize the total cost combined distance traveled by all agents); and maintaining formation geometry during flock motion. The KuhnMunkres ( Hungarian ) algorithm is used for optimal assignment, and consensusbased leaderfollower type control architecture is used to maintain formation shape despite the leader s independent movements. The methods are demonstrated by animated simulations. NTRS record: