Generation of optimal persistent formations for heterogeneous multi-agent systems with a leader constraint**Project supported by the National Natural Science Foundation of China (Grant Nos. 71671059, 71401048, 71521001, 71690230, 71690235, and 71472058) and the Anhui Provincial Natural Science Foundation, China (Grant No. 1508085MG140).

Abstract

In this study, we consider the generation of optimal persistent formations for heterogeneous multi-agent systems, with the leader constraint that only specific agents can act as leaders. We analyze three modes to control the optimal persistent formations in two-dimensional space, thereby establishing a model for their constrained generation. Then, we propose an algorithm for generating the optimal persistent formation for heterogeneous multi-agent systems with a leader constraint (LC-HMAS-OPFGA), which is the exact solution algorithm of the model, and we theoretically prove its validity. This algorithm includes two kernel sub-algorithms, which are optimal persistent graph generating algorithm based on a minimum cost arborescence and the shortest path (MCA-SP-OPGGA), and the optimal persistent graph adjusting algorithm based on the shortest path (SP-OPGAA). Under a given agent formation shape and leader constraint, LC-HMAS-OPFGA first generates the network topology and its optimal rigid graph corresponding to this formation shape. Then, LC-HMAS-OPFGA uses MCA-SP-OPGGA to direct the optimal rigid graph to generate the optimal persistent graph. Finally, LC-HMAS-OPFGA uses SP-OPGAA to adjust the optimal persistent graph until it satisfies the leader constraint. We also demonstrate the algorithm, LC-HMAS-OPFGA, with an example and verify its effectiveness.