[Presentation] Beacon-based Distributed Structure Formation in Multi-agent Systems - Presentation

This is a recorded presentation by Tamzidul Mina for the paper, titled "Beacon-based Distributed Structure Formation in Multi-agent Systems" in IROS 2023.

Paper (ArXiv) Link: https://arxiv.org/pdf/2303.00920.pdf
Supplementary Video Link:    • Beacon-based Distributed Structure Fo...  


Abstract: — Autonomous shape and structure formation is an important problem in the domain of large-scale multiagent systems. In this paper, we propose a 3D structure representation method and a distributed structure formation strategy where settled agents guide free moving agents to a prescribed location to settle in the structure. Agents at the structure formation frontier looking for neighbors to settle act as beacons, generating a surface gradient throughout the formed structure propagated by settled agents. Free-moving agents follow the surface gradient along the formed structure surface to the formation frontier, where they eventually reach the closest beacon and settle to continue the structure formation following a local bidding process. Agent behavior is governed by a finite state machine implementation, along with potential fieldbased motion control laws. We also discuss appropriate rules for recovering from stagnation points. Simulation experiments are presented to show planar and 3D structure formations with continuous and discontinuous boundary/surfaces, which validate the proposed strategy, followed by a scalability analysis.