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    ARTICLE

    Maintaining Complex Formations and Avoiding Obstacles for Multi-Agents

    Yali Wang1, Youqian Feng1, Zhonghai Yin1, Cheng Zhou1, *

    CMC-Computers, Materials & Continua, Vol.62, No.2, pp. 877-891, 2020, DOI:10.32604/cmc.2020.06423

    Abstract This paper researches some problems in complex formation for multi-agents, in which two matrices are proposed to record the formation. The pattern matrix is used to describe the pattern of the formation; meanwhile, the location matrix is used to record the location of each agent. Thus, all desired positions of each agent will be obtained by geometrical relationship on the basis of two matrices above. In addition a self-adaptation flocking algorithm is proposed to control all agents to form a desired formation and avoid obstacles. The main idea is as follows: agents will form a More >

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