Adaptive Q-Structure for Agent Formations

In this paper, we further extend the Queue-formation structure (or Q-structure) in 3D spaces with additional features including: (i) specifying orientation information, (ii) a mechanism for forming sub-formations before the convergence into the final formation, and (iii) adapting the communication structure when communications is limited. Bobber-agents are used to guide each vehicle toward the appropriate queue, by acting as intermediate targets. The proposed scheme relies mainly on simple behaviors between embodied and virtual agents and is computationally inexpensive method. Extensive simulations show the effectiveness of the proposed method.