Trajectory allocation algorithm for the positioning of multi-agent systems (MAS)

Abstract

A multi-agent system, conformed by differential mobile robots, can execute many task. An example is the positioning of mobile robots in order to represent a 2D formation on the ground that represents a geometric shape. In this application, the mobile robots move to a position assigned by an algorithm. This algorithm assigns the 2D position that each mobile robot has to achieve. This paper presents a methodology that defines seven criteria necessaries to compute a good 2D position assignation. The criteria are based on the unweighted Euclidean distances between the robot’s location and the desired position. The criteria are evaluated in order to selected the criterion that allows to move the short distance in all the robots of the multi-agent system. This will reduce the energy consumption of each mobile robot.