Projects:2018s1-270 Reconfiguration on Multi-Agent Systems(Robot Systems)

Formation reconfiguration is an important issue in coordinated control for multi-agent system. The multi-agent system needs to utilize different formations to accomplish diverse missions. The relative positions of agents need to be reconfigured when specific demand is given. There will be time and energy loss during the process of formation reconfiguration. Our project group works towards an autonomous multi-agent system made up of four ground robots to achieve the dynamically reconfiguration. In the process of formation reconfiguration, we use two-stage reconfiguration strategy to reduce the time consumption or the energy consumption. The objective of our project group is to make the reconfiguration process accurate and efficient. We expect to verify the feasibility of the two-stage reconfiguration strategy by simulation experiments and field tests and to improve the two-stage strategy so that it can be adapted to more complex situations.