Swarm formations using the general formation potential function

This paper presents a method for synthesizing classes of potential functions, which corresponds to commonly used formations, from a general formation potential function by altering the values of a fixed set of parameters. These potential functions may then be used for formation control in swarms of agents. The properties of the potential functions are also examined in this paper. In addition, obstacle avoidance and target tracking behaviors are also implemented on the individual agents. Simulation studies have been carried out to verify the effectiveness of our approach.