Table 1.
A detailed report on the population of agents in SDRE in previous, as literature compared to this work.
| context | Ref. | No. of agents, type of agent |
|---|---|---|
| multi‐agent leader‐follower formation | [37] [38] [40] [41] [42] [43] [44] [45] [46] [47] [39] | 5, single‐integrator 2, mobile robot 2, spacecraft 5, single‐integrator 2, spacecraft 3, mobile robot 2, aircraft 3, spacecraft 2, spacecraft 2, satellite 1024, satellite |
| consensus control | [22] | 10, crane |
| cooperative multi‐agents | [48] [49] [50] [19] [51] [52] | 2, manipulator 2, manipulator 3, spacecraft 4, manipulator 4, UAV 3, mobile robot |
| multi‐agents leader‐follower | this work this work this work | 1,089, UAV 45, mobile robot 1,050, mobile robot |
Figure 1.
A schematic view of the multi-agent system, moving from an initial randomly-distributed form to a final desired shape with arranged agents in an environment with an obstacle. The 2D representation is intended to show more detail; its formation is general and could be applied to 3D formation as well.
Figure 2.
The schematic view and axis definition of a quadrotor.
Figure 3.
The schematic view and axis definition of a differential-wheel mobile robot.
Figure 4.
The trajectories of the multi-agent system of 1,089 quadrotor UAVs.
Figure 5.
The error convergence of the multi-agent system of 1,089 quadrotor UAVs.
Figure 6.
The distance between the drones and the obstacle for the multi-agent system of 1,089 quadrotor UAVs.
Figure 7.
The collision distance between the drones for the multi-agent system of 1,089 quadrotor UAVs.
Figure 8.
The ds,j(t) parameter for the multi-agent system of 1,089 quadrotor UAVs. Samples are shown the axes instead of time as a result of the mesh presentation.
Figure 9.
The position and orientation states for the 5th quadrotor UAV.
Figure 10.
The linear and angular velocity states for the 5th quadrotor UAV of the multi-agent system.
Figure 11.
The angular velocities of the rotors for the 5th quadrotor UAV.
Figure 12.
The trajectories of the leader and 45 follower agents.
Figure 13.
The errors of the leader and 45 follower agents.
Figure 14.
The obstacle avoidance performance of the leader/follower system of mobile robots.
Figure 15
The collision avoidance performance of the leader/follower system of mobile robots.
Figure 16.
The input signals of the wheels for one of the agents.
Figure 17.
The state information for one of the agents.
Figure 18.
The migration of 1,050 mobile robots in leader-follower formation.