Location-Aware Formation Control in Swarm Navigation

Abstract

Goal-seeking and information-seeking are canonical problems in mobile agent swarms. We study the problem of collaborative goal-approaching under uncertain agent position information. We propose a framework that establishes locationaware formations, resulting in a controller that accounts for agent position uncertainty with a realistic ranging model. Simulation results confirm that, as the outcome of the controller, the swarm moves towards its goal, while emerging formations conducive to high-quality localization.