Achieving Consensus from Formation Pattern of Multi-agent Systems

A group of agents working together can perform complex tasks with enhanced efficiency than individual agents. The coordination of all the agents in the system is a complicated task in which wide research is being done. There are many approaches towards controlling the information flow between the agents, among which distributed approach has many advantages. Distributed approach is further classified into formation control, consensus, estimation and optimization. In this paper we will discuss about formation control and arrive at consensus from the formation pattern.