Motion coordination of multi-agent formation of rovers

The main idea of this paper is to develop an adequate computational model under which the agents in the formation will perform to coordinate among each other. The IDs of the agents are assigned in such a way that those will be very useful in real-time application. The proposed scheme is suitable for obstacle avoidance in unknown environment as the agents adjust themselves to have more space during turning as a whole formation. Moreover the agents are free from collission among each other during navigation. The proposed method also minimizes the communication burden where the master agent informs only its motion initiative and the other agents decide their motion initiative onboard. This will reduce the dependency of the agents on the other agents while making decision. The schemes are tested with extensive simulations and the responses of the agents show satisfactory performances to deal with different environmental conditions while keeping the formation.