Distributed Spatiotemporal Formation Control with Multiplex Information Networks

Current formation control algorithms mostly focus on the single information exchange infrastructure and result in fixed and non-evolving spatial formation properties. For performing complex formation assignments, this paper introduces the multiplex information exchange rules and investigates the spatiotemporal formation of multi-agent networks. First, this paper considers a three-layer interaction network and presents a distributed leader-follower formation algorithm under the holistic planning and multi-step control (HPMSC) framework, which gives the capable leader-agents the ability to alter the size and the orientation of formation configuration spatially. Then, introducing a motion planning method and time projection method shows that the formation configurations and formation properties can be controlled within an appointed settling time. Moreover, it is feasible to extend the presented results to time-varying formation problems and more complex formation configurations over multiple information networks (more than three layers). Finally, a simulation example indicates the effectiveness of the presented algorithms.