Efficient Double-Layered Formation Control for Multi-Agent Systems

In this paper, a double-layered formation control with prioritized missions composition is proposed for static formation of multi-agent systems. At the first cooperation layer, the motion trajectory of agents is planned by designing a distributed model predictive control (DMPC) strategy without obstacle avoidance constraints. At the second perception layer, a velocity in the agent-obstacle direction is generated to keep a safe distance between agent and obstacles. Finally, the outputs of the two layers are elaborately merged by the null-space-based control (NSBC). As a result, collision-free trajectories can be planned using few computational power. Simulation results show the effectiveness of the proposed formation control method.