Distributed formation control for a multi-agent system with dynamic role assignment

This paper investigates the dynamic role assignment and collision avoidance for the discrete-time system without global information. Based on the traditional formation control protocol, the formation control algorithm with dynamic role assignment is proposed. To make each agent act efficiently, we give an assignment transformation matrix by solving an optimal problem with distributed auction algorithm. Modified formation control algorithm with derivation of an avoidance function is presented, which can guarantee collision-free movement for each agent. Mathematical theory and simulation verify the effectiveness of the proposed algorithms.