Multi-Agent Coordination Fluid Flow Modeling and Experimental Evaluation

TL;DR

This paper introduces a fluid flow-based navigation model for multi-agent systems that enhances reliability and safety, validated through quadcopter experiments, to improve coordination despite agent failures or communication issues.

Contribution

The paper proposes a novel fluid flow navigation model that categorizes agents into cooperative and noncooperative types, improving multi-agent coordination and reliability.

Findings

Successful experimental validation with crazyflie quadcopters.

Enhanced safety and coordination in multi-agent systems.

Robustness to agent failures demonstrated.

Abstract

Reliability is a critical aspect of multi-agent system coordination as it ensures that the system functions correctly and consistently. If one agent in the system fails or behaves unexpectedly, it can negatively impact the performance and effectiveness of the entire system. Therefore, it is important to design and implement multi-agent systems with a high level of reliability to ensure that they can operate safely and move smoothly in the presence of unforeseen agent failure or lack of communication with some agent teams moving in a shared motion space. This paper presents a novel fluid flow navigation model that, in an ideal fluid flow, divides agents into cooperative (non-singular) and noncooperative (singular) agents, with cooperative agents sliding along streamlines safely enclosing noncooperative agents in a shared motion space. A series of flight experiments utilizing crazyflie quadcopters will experimentally validate the suggested model.