CONTROL OF MULTIAGENT FORMATIONS: A MULTIPLEX INFORMATION NETWORKS-BASED APPROACH

摘要

This paper makes the first attempt to show how information exchange rules represented by a network having multiple layers (multiplex information networks) can be designed for enabling spatially evolving multiagent formations. Toward this goal, we consider the invariant formation problem and introduce a distributed control architecture that allows capable agents to spatially alter the resulting formation's density and orientation without requiring global information exchange ability. Efficacy of the proposed approach is illustrated on numerical examples.