Automatic generation of optimal persistent formation for multi-agent systems
多智能体系统最优持久编队自动生成

Based on the optimal rigid formation, an algorithm for automatic generation of optimal persistent formation for multi-agent systems is presented. The amount of information interaction for maintaining the stabilization of the formation configurations can be maximally decreased by using the algorithm. First, for any minimal rigid graph, two rigid reverse operations are presented to curtail them; then, the rules for adding directions for undirected edges contained in the two operations are designed to make the protrusion degrees of the corresponding vertices less than 2. Based on the rules, the algorithm of generating any minimal persistent graph is obtained, and the generation of optimal persistent formation is guaranteed. Finally, simulation results are presented to show the effectiveness of the proposed algorithm.