Abstract
Navigation in unknown environments while maintaining connectivity between agents is a practical research challenge with applicability to real life problem such as mapping, rescue missions, etc. In this work, a decentralized navigation to form group motion is formulated as a multi-objective optimization problem with an artificial potential function and the knee solution on the Pareto-optimal region is used to determine each agent's action. The results show reasonable performance in a static environment and in three dynamic situations (head-on collision, squeeze, and road crossing) with respect to goal reaching, collision avoidance and connectivity maintenance.
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