Beacon-based Distributed Structure Formation in Multi-agent Systems
Abstract
Autonomous shape and structure formation is an important problem in the domain of large-scale multi-agent systems. In this paper, we propose a 3D structure representation method and a distributed structure formation strategy where settled agents guide free moving agents to a prescribed location to settle in the structure. Agents at the structure formation frontier looking for neighbors to settle act as beacons, generating a surface gradient throughout the formed structure propagated by settled agents. Free-moving agents follow the surface gradient along the formed structure surface to the formation frontier, where they eventually reach the closest beacon and settle to continue the structure formation following a local bidding process. Agent behavior is governed by a finite state machine implementation, along with potential field-based motion control laws. We also discuss appropriate rules for recovering from stagnation points. Simulation experiments are presented to show planar and 3D structure formations with continuous and discontinuous boundary/surfaces, which validate the proposed strategy, followed by a scalability analysis.
- Publication:
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arXiv e-prints
- Pub Date:
- March 2023
- DOI:
- 10.48550/arXiv.2303.00920
- arXiv:
- arXiv:2303.00920
- Bibcode:
- 2023arXiv230300920M
- Keywords:
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- Computer Science - Multiagent Systems
- E-Print:
- 8 pages, 6 figures, accepted for publication in IROS 2023. A link to the simulation videos is provided under the Validation section