Distance-Based Formation Control, Maneuvering and Flip Ambiguity Avoidance in Multi-Agent Systems

Abstract: Formation control is a fundamental concept in the field of robotics, where a group ofagents is directed to achieve a specific formation or pattern. This report investigates decentralizeddistance-based formation control strategies for multiagent formation control, with a focus on controllaw design dealing with flip ambiguity issues, and centroid maneuvering. Simulation results highlightthe sensitivity of the system to initial conditions, revealing the profound impact they have on theconvergence towards ambiguous formations. The proposed approach utilizes local sensing andcommunication to ensure agents maintain their relative distances and preserve the desired shape.Findings demonstrate the potential of coordinated motion in multi-agent systems and provide insightsinto developing decentralized control strategies for applications in autonomous vehicles, swarmintelligence, and robotics.