Artificial formation forces for stable aggregation of multi-agent system

This paper introduces, a robust and stable algorithm based on artificial formation forces, for multi-agent system (MAS) aggregation in 2D space. The MAS model with artificial forces; consists of inter-member collision avoidance element, formation generation element and a velocity based damping element; is analysed for stability and convergence. Computer simulations are used to illustrate stability and convergence, and to demonstrate effectiveness of the algorithm.