@inproceedings{10eb10bf06c84286b720c11e4daee80f,
title = "Multi-agent System Sequential Formation Switching via Interval Decomposition",
abstract = "Multi-agent system formation switching is difficult, which becomes easier if agents move sequentially. This paper presents the method to compute formation switching sequence. It takes into account coupling relationship between agents where one agent's assigned position is another agent's current one. Computed sequence mitigates coupling side effects. As for single agent transition positions or path within formation, this paper modifies the cell decomposition method and replaces cell with interval in a 2D grid. The connectivity tree grows from the start position interval to the target position interval. The refinement procedure derives the final path based on the graph search result. Complexity is analyzed, and simulation results verify sequential formation switching correctness.",
keywords = "cell decomposition, formation switching, multi-agent system, path planning",
author = "Letian Li and Wei Sheng and Runnan Shen and Jian Zhang",
note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Unmanned Systems, ICUS 2021 ; Conference date: 15-10-2021 Through 17-10-2021",
year = "2021",
doi = "10.1109/ICUS52573.2021.9641068",
language = "英语",
series = "Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "99--104",
booktitle = "Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021",
address = "美国",
}