@Article{cmc.2020.06423,
AUTHOR = {Yali Wang, Youqian Feng, Zhonghai Yin, Cheng Zhou},
TITLE = {Maintaining Complex Formations and Avoiding Obstacles for Multi-Agents},
JOURNAL = {Computers, Materials \& Continua},
VOLUME = {62},
YEAR = {2020},
NUMBER = {2},
PAGES = {877--891},
URL = {http://www.techscience.com/cmc/v62n2/38282},
ISSN = {1546-2226},
ABSTRACT = {This paper researches some problems in complex formation for multi-agents, 
in which two matrices are proposed to record the formation. The pattern matrix is used to 
describe the pattern of the formation; meanwhile, the location matrix is used to record the 
location of each agent. Thus, all desired positions of each agent will be obtained by 
geometrical relationship on the basis of two matrices above. In addition a self-adaptation 
flocking algorithm is proposed to control all agents to form a desired formation and avoid 
obstacles. The main idea is as follows: agents will form a desired formation through the 
method of formation control when far away from obstacles; otherwise, agents will freely 
fly to pass through the area of obstacles. In the simulation, three scenarios are designed to 
verify the effectiveness of our method. The results show that our method also can be 
applied in three dimensions. All agents will form a stable formation and keep the same 
velocity at last.},
DOI = {10.32604/cmc.2020.06423}
}