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.
Cite
@article{arxiv.2303.00920,
title = {Beacon-based Distributed Structure Formation in Multi-agent Systems},
author = {Tamzidul Mina and Wonse Jo and Shyam S. Kannan and Byung-Cheol Min},
journal= {arXiv preprint arXiv:2303.00920},
year = {2023}
}
Comments
8 pages, 6 figures, accepted for publication in IROS 2023. A link to the simulation videos is provided under the Validation section