Multi-Agent Formation Control Based on Bell-Shaped Potential Functions

  title={Multi-Agent Formation Control Based on Bell-Shaped Potential Functions},
  author={Kristian Hengster-Movric and Stjepan Bogdan and Ivica Draganjac},
  journal={Journal of Intelligent and Robotic Systems},
In this paper we analyze stability properties of multi-agent control system with an artificial potential based on bell-shaped functions. In our approach attractive and repulsive forces created by potential gradient have the same form. This particular property allows definition of target formation that is parameter invariant. Due to the fact that agents are identical, the proposed structure of formation potential is invariant to the interchange of agents configurations, hence, target in which… CONTINUE READING
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