Multi-Agent Shape Formation and Tracking Inspired from a Social Foraging Dynamics
This work addresses formation control and automated tracking for multi-agent systems, presenting an incremental improvement by adapting foraging dynamics to this domain.
The paper tackles the problem of multi-agent shape formation and tracking by proposing a method inspired by social foraging dynamics, achieving convergence of agents on desired geometric patterns with almost uniform density and enabling tracking of moving points through continuous circulation.
Principle of Swarm Intelligence has recently found widespread application in formation control and automated tracking by the automated multi-agent system. This article proposes an elegant and effective method inspired by foraging dynamics to produce geometric-patterns by the search agents. Starting from a random initial orientation, it is investigated how the foraging dynamics can be modified to achieve convergence of the agents on the desired pattern with almost uniform density. Guided through the proposed dynamics, the agents can also track a moving point by continuously circulating around the point. An analytical treatment supported with computer simulation results is provided to better understand the convergence behaviour of the system.