Synchronized coherent swarming of a collaborative multi agent system in presence of disturbance

Swarming of a set of agents consists of some unmanned aerial vehicles (UAVs) and some unmanned ground vehicles (UGVs) with coherent formation is studied. A decentralized robust controller is presented in order to reject the environmental disturbances and prone a rigid formation. Since the disturbance effecting UAVs is stronger than the one for UGVs, to tolerate this differences, the error of the neighbours are used by each agent as one of the entered signal of its controller to make the formation synchronized. The decentralized method improves the reliability of the performance. This algorithm is applied in simulation and the results approve the accepted performance of the proposed approach.