Formation with Non-Collision Control Strategies for Second-Order Multi-Agent Systems

Abstract

This article tackles formation control with non-collision for a multi-agent system with second-order dynamics. The nested saturation approach is proposed to solve the well-known formation control problem, allowing us to delimit the acceleration and velocity of each agent. On the other hand, repulsive vector fields (RVFs) are developed to avoid collisions among the agents. For this purpose, a parameter depending on the distances and velocities among the agents is designed to scale the RVFs adequately. It is shown that when the agents are at risk of collision, the distances among them are always greater than the safety distance. Numerical simulations and a comparison with a repulsive potential function (RPF) illustrate the agents’ performance.

Collision-Free Formation-Containment Tracking of Multi-USV Systems with Constrained Velocity and Driving Force

“…During the execution of various formation tasks by multiple USV clusters, collision avoidance among USVs, as well as avoidance of obstacles such as reefs, buoys, and ice floes on the sea surface, is a fundamental requirement [6][7][8][9][10]. Currently, substantial research has focused on collision avoidance within multi-USV formations [8,[11][12][13][14]. Little attention has been paid to collision avoidance strategies for a specialized type of USV operation, known as formation-containment tracking.…”

“…Collision avoidance is an indispensable aspect of any collaborative task involving USV swarms [30][31][32]. The artificial potential field method, a notable strategy for collision avoidance, effectively synergizes with the consensus formation of multi-vehicle systems [8,[11][12][13][32][33][34][35]. Aranda-Bricaire et al [11] developed an approach using repulsive vector fields (RVFs) grounded in the repulsive potential function (RPF) to facilitate collision-free formations in second-order multi-agent systems with input force and velocity constraints.…”

“…The artificial potential field method, a notable strategy for collision avoidance, effectively synergizes with the consensus formation of multi-vehicle systems [8,[11][12][13][32][33][34][35]. Aranda-Bricaire et al [11] developed an approach using repulsive vector fields (RVFs) grounded in the repulsive potential function (RPF) to facilitate collision-free formations in second-order multi-agent systems with input force and velocity constraints. Park et al [13] advanced a multi-USV formation strategy that simultaneously addresses connectivity maintenance and collision avoidance, utilizing an innovative additional potential function to avert collisions.…”