Multi-Agent Shape Formation and Tracking Inspired from a Social Foraging Dynamics

TL;DR

This paper introduces a swarm intelligence-based method inspired by social foraging dynamics for multi-agent shape formation and tracking, demonstrating convergence to patterns and the ability to follow moving targets through analytical and simulation studies.

Contribution

It presents a novel foraging-inspired control strategy for multi-agent systems to achieve geometric formations and dynamic tracking, with analytical insights and simulation validation.

Findings

Agents converge to desired geometric patterns

System can track moving points continuously

Method achieves uniform agent density during formation

Abstract

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.