Artificial moment method for coordinated control of swarm system formation

To deal with the problem of coordinated control, an artificial moment method is presented for swarm system formation with overlapping information structure constraints. Each member of the swarm possesses itself proximity sensor and neighbor orientation sensor, and exchanges information with fixed neighbors. On the basis of formation regulations established by the system structure information, the proposed scheme makes each member coordinate its state and position with its neighbors according to the information provided by its sensors. Thus, the equilibrating stable swarm system formation is accomplished with the special information structure constraints.