Multi-agent Rendezvous and Formation Control

As a class project, I implemented this paper, which develops control laws for multi-agent rendezvous and formation control that guarantee the preservation of distance-based connectedness (i.e. communications radius). This project involved skills in:

• Cooperative control
• Consensus in multi-agent systems
• Multi-agent rendezvous and formation control
• Python

My implementation of these methods can be found here.

Naive Rendezvous

This example demonstrates a basic rendezvous algorithm that doesn’t preserve connectedness, resulting in undesireable behavior.

Rendezvous with Guaranteed Connectedness:

This example demonstrates the rendezvous algorithm from the paper that guarantees connectedness throughout the maneuver.

Formation Control

This example displays a very basic formation control example. More complicated examples are left to future work.