Discrete-time heterogeneous multi-agent system formation control with high-fidelity simulation

This article studies formation control for the discrete-time heterogenous multi-agent system, where the components are unmanned ground vehicles (UGVs) and unmanned air vehicles (UAVs). Based on the neighboring states, a discrete-time formation control protocol is presented. Sufficient conditions are listed for the heterogeneous multi-agent system to complete the specified formation. A simulation platform with high fidelity using Gazebo is introduced, where the components are structured with respect to the fidelity of the air-ground collaboration scenario. A numerical example is presented to confirm the effectiveness of the theoretical results.