In this letter, we develop a strategy for arranging a team of agents in orbits of arbitrary shape that pass through a common point that may move. In particular, the shapes are defined by star-shaped sets. The solution is based on its transformation into the traditional circular formation problem and subsequent reconversion. Given the large number of solutions to such a problem, the developed algorithm is well suited as a plug & play command generator to extend these solutions to the promising field of aerial robotic swarms. Two examples of such an application show its ease of implementation.
A Plug & Play Command Generator for Swarm Formation on Multiple Arbitrary Shaped Orbits: A Diffeomorphism-Based Approach
Bono A.;D'Alfonso L.;Fedele G.;
2023-01-01
Abstract
In this letter, we develop a strategy for arranging a team of agents in orbits of arbitrary shape that pass through a common point that may move. In particular, the shapes are defined by star-shaped sets. The solution is based on its transformation into the traditional circular formation problem and subsequent reconversion. Given the large number of solutions to such a problem, the developed algorithm is well suited as a plug & play command generator to extend these solutions to the promising field of aerial robotic swarms. Two examples of such an application show its ease of implementation.File in questo prodotto:
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