Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints
Smith, Brian Stephen
Egerstedt, Magnus B.
Howard, Ayanna M.
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We present graph-based methods for determining if a mobile robot network with a defined sensor and communication range can persistently achieve a specified formation, which implies that the formation, once achieved, will be preserved by the direct maintenance of a subset of inter-agent distances. Here, formations are defined by a set of points whose inter-point distances correspond to desired inter-agent distances. Further, we provide graph operations to describe agent interactions that implement a given formation, as well as an algorithm that, given a persistent formation, automatically generates a sequence of such operations.