Using fuzzy logic in shape control of cyclic networks in multi-vehicle formations

The paper examines cyclic persistent networks at the level of sensing and control architectures that are needed to maintain the shape of a multi-agent formation in two dimensional space, while the formation moves as a cohesive whole. The key tools we use are rigidity theory and graph theory. Then, the paper focuses on the planner level and controller level of the architecture by designing fuzzy logic based planner and fuzzy controller of individual agents. We simulate the fuzzy planner and the fuzzy controller on kinematic unicycles for an exemplary cyclic formation generated by the results obtained in the first half of the paper. The validity of the proposed approach in the shape control of multi-agent formations is verified through simulation experiments.