Circle Formation Control of Large-Scale Intelligent Swarm Systems in a Distributed Fashion

The circle formation is a good starting point for many symmetric formations like an approximation of a circle, a simple polygon, or a line segment etc in the plane. A distributed manner is presented to fulfill the coordinated task of N mobile agents swarm (which could be swarm robotics, unmanned air/ocean vehicles namely UAV, satellites, mobile sensors, aircraft and spacecraft etc.) being forced to achieve a circle formation while avoiding collision between themselves. The control development method is based on artificial potential function namely APF and Newton-Raphson iteration. Finally, the performance of the method is examined by numerical simulations, the results further indicated that the individual members living in swarm during the course of coordinative motion can realize the stabilization of particular predefined a desired circle or a convex polygon formation.