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A Multi-Agent Navigation Controller for Sequential Tasks Performing

Most of the existing multi-agents navigation controllers are designed for single task, which cannot fulfill the growing demand of the complex work that generally requires a series of sequential sub-tasks. This paper reports a novel controller for multi-agent navigation to perform multiple sub-tasks, which can sequentially and continuously drive grouped target agents to different sub-task convergence regions without tasks reassignment while avoid collisions with obstacles. The proposed potential field-based controller was developed by utilizing the principles of contractive coalition and switching region. Simulation was performed on the navigation of multi-agent to different convergence regions sequentially to verify the availability of the proposed controller.