Abstract: This paper focuses on the development of a tribrid control strategy for leader-follower flocking of multi-agents in octagonal polygonal formation. The tribrid approach encompasses Reinforcement Learning (RL), centralized and de-centralized control strategies. While the RL for multi-agent polygonal formation addresses the issues of scalability, the centralized strategy maintains the inter-agent distance in the formation and the decentralized strategy reduces the consensus (in position and velocity) error. Unlike the previous studies focusing only on the predefined trajectory, this paper deals with the leader-follower scenario through a decentralized tribrid control strategy. Two cases on initial positions of multi-agents dealt in this paper include the octagonal pattern from RL and the agents randomly distributed in spatial environment. The tribrid control strategy is aimed at simultaneous formation and flocking, and its stability in a shorter response time. The convergence of flocking error to zero in 3s substantiates the validity of the proposed control strategy and is faster than previous control methods. Implicit use of centralized scheme in decentralized control strategy facilitates retention of formation structure of the initial configuration. The average position error of agents with the leader is within the position band in 3s and thus it confirms the maintenance of formation during flocking.

B. K. Swathi Prasad, Hariharan Ramasangu and Govind R. Kadambi, “Decentralized Tribrid Adaptive Control Strategy for Simultaneous Formation and Flocking Configurations of Multi-agent System” International Journal of Advanced Computer Science and Applications(IJACSA), 13(6), 2022. http://dx.doi.org/10.14569/IJACSA.2022.0130634

@article{Prasad2022,
title = {Decentralized Tribrid Adaptive Control Strategy for Simultaneous Formation and Flocking Configurations of Multi-agent System},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2022.0130634},
url = {http://dx.doi.org/10.14569/IJACSA.2022.0130634},
year = {2022},
publisher = {The Science and Information Organization},
volume = {13},
number = {6},
author = {B. K. Swathi Prasad and Hariharan Ramasangu and Govind R. Kadambi}
}