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Multi-Agent Polygon Formation via Circle Formation

11 pagesPublished: November 24, 2022


This study considers the convex formation of polygons via a two-phase procedure. The approach infuses features from the behavioral and virtual structure methodologies. In the first phase, the agents form a circle. In the second phase, the agents are reconfigured into a polygon formation. Since the reconfiguration of virtual structures are often faced with challenges, the circle formation is adopted as the regrouping feature of agents before reconfiguration into a different polygon formation. No distinction is made among the agents, which simplifies formations. In addition, the agents can avoid collision during the formation process. Simulation results show precise formation of agents into different polygons. The results further indicate that the proposed approach has the potential to maintain the formation whilst the formation is rotating or changes location.

Keyphrases: consensus, Cyber-Physical Systems, formation control, Modeling & Simulation, Multiagent Systems, peer-to-peer networks

In: Yan Shi, Gongzhu Hu, Krishna Kambhampaty and Takaaki Goto (editors). Proceedings of 35th International Conference on Computer Applications in Industry and Engineering, vol 89, pages 81--91

BibTeX entry
  author    = {Rui Yang and Azad Azadmanesh and Hassan Farhat},
  title     = {Multi-Agent Polygon Formation via Circle Formation},
  booktitle = {Proceedings of 35th International Conference on Computer Applications in Industry and Engineering},
  editor    = {Yan Shi and Gongzhu Hu and Krishna Kambhampaty and Takaaki Goto},
  series    = {EPiC Series in Computing},
  volume    = {89},
  pages     = {81--91},
  year      = {2022},
  publisher = {EasyChair},
  bibsource = {EasyChair,},
  issn      = {2398-7340},
  url       = {},
  doi       = {10.29007/m35g}}
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