CONICET | Buscador de Institutos y Recursos Humanos

This work proposes a novel data-driven distributed formation-control approach based on multi-population evolutionary games,which is structured in a leader-follower scheme. The methodology considers a time-varying communication graph that describeshow the multiple agents share information to each other. We present stability guarantees for congurations given by timevaryinginteraction networks, making the proposed method suitable for real-world problems where communication constraintschange along the time. Additionally, the proposed formation controller allows for an agent to leave or enter the group withoutthe need to modify the behaviors of other agents in the group. This game-theoretical approach is evaluated through numericalsimulations and real outdoors experimental results using aeet of aerial autonomous vehicles, showing the control performance.

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