Abstract: For many multi-robot applications it is interesting to impose a particular configuration for the robotic agents. This paper discusses the design and analysis of a distributed algorithm for the compact deployment of agents, where the behavior of each vehicle is only dependent on local information. Our objective is to achieve the most compact formation possible. To solve this problem we propose, in a first step, two uncorrelated controllers: one designed for dispersion with connectivity maintenance and a second designed to minimize inter-agent angles. An improved controller including variable gains, particulary designed to avoid singular configurations, is also provided. Lastly, we propose a sequential strategy composed of the two previously mentioned controllers and a stability analysis based on hybrid systems theory. Finally, some simulation results for different configurations supporting our theoretical results are presented.

 

 

Simulation Demo