Aggregation stability of multiple agents with fuzzy attraction and repulsion forces

The swarm behaviors of multi agent is a popular topic and has significant interest and application in industrial engineering, such as multi-robot team and autonomous air vehicle. Many studies have been done on modeling and describing swarm aggregation as well as analyzing its stability properties. This study provides a novel contribution by using Fuzzy Logic and simple Mamdani rules for constructing the attraction/repulsion function. It shows that the agents of multi-agents in indirect communications network will asymptotically form a cohesive cluster in predicted bounded region. A numerical simulation is also given to illustrate the theoretical results.