A Novel Convex Layers Strategy for Circular Formation in Multi-Agent Systems
Fuente:
arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866914261627830272 |
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| author | Kumar, Gautam Ratnoo, Ashwini |
| author_facet | Kumar, Gautam Ratnoo, Ashwini |
| contents | This article considers the problem of conflict-free distribution of point-sized agents on a circular periphery encompassing all agents. The two key elements of the proposed policy include the construction of a set of convex layers (nested convex polygons) using the initial positions of the agents, and a novel search space region for each of the agents. The search space for an agent on a convex layer is defined as the region enclosed between the lines passing through the agent's position and normal to its supporting edges. Guaranteeing collision-free paths, a goal assignment policy designates a unique goal position within the search space of an agent at the initial time itself, requiring no further computation thereafter. In contrast to the existing literature, this work presents a one-shot, collision-free solution to the circular distribution problem by utilizing only the initial positions of the agents. Illustrative examples and extensive Monte-Carlo studies considering various practical attributes demonstrate the effectiveness of the proposed method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_11351 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Novel Convex Layers Strategy for Circular Formation in Multi-Agent Systems Kumar, Gautam Ratnoo, Ashwini Multiagent Systems This article considers the problem of conflict-free distribution of point-sized agents on a circular periphery encompassing all agents. The two key elements of the proposed policy include the construction of a set of convex layers (nested convex polygons) using the initial positions of the agents, and a novel search space region for each of the agents. The search space for an agent on a convex layer is defined as the region enclosed between the lines passing through the agent's position and normal to its supporting edges. Guaranteeing collision-free paths, a goal assignment policy designates a unique goal position within the search space of an agent at the initial time itself, requiring no further computation thereafter. In contrast to the existing literature, this work presents a one-shot, collision-free solution to the circular distribution problem by utilizing only the initial positions of the agents. Illustrative examples and extensive Monte-Carlo studies considering various practical attributes demonstrate the effectiveness of the proposed method. |
| title | A Novel Convex Layers Strategy for Circular Formation in Multi-Agent Systems |
| topic | Multiagent Systems |
| url | https://arxiv.org/abs/2404.11351 |