Formation control for swarm system with dynamic obstacles

This paper presents a formation control method for a swarm system, wherein each agent is capable of avoiding dynamic obstacles to reach a target area on the plane. Firstly, the collision hazard area, where an agent collides upon entry, is established by integrating a partial differential equation-based distribution model of dynamic obstacles and a curve model of the front agents' deployment. Secondly, the coverage-based controller is designed for each agent by optimising the objective function concerning its respective visibility-limited Voronoi set on the manoeuvrable domain outside the collision hazard area, ensuring that the agent's trajectories remain within the target area. Simulation results finally demonstrate the effectiveness of the proposed approach.