This study proposes a multi-consensus formation control algorithm by artificial potential field (APF) method based on velocity threshold. The algorithm improves the multi-consensus technique. This algorithm can split a group of agents into multiple agent groups. Note that the algorithm can easily complete the queue transformation as long as the entire proxy group is connected initially and no specific edges need to be removed. Furthermore, collision avoidance and maintenance of existing communication connectivity should be considered during the movement of all agents. Therefore, we design a new swarm motion potential function. The stability of multi-consensus formation control has proven to be effective in avoiding collisions, maintaining connectivity, and generating formations. The final numerical simulation results show the role of the controller we designed.

中文翻译：

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基于速度阈值的人工势场多共识编队控制

本研究提出了一种基于速度阈值的人工势场（APF）方法的多共识编队控制算法。该算法改进了多重共识技术。该算法可以将一组智能体拆分为多个智能体组。请注意，只要整个代理组最初连接并且不需要删除特定的边，该算法就可以轻松完成队列转换。此外，在所有代理移动期间，应考虑避免碰撞和维护现有的通信连接。因此，我们设计了一个新的群体运动势函数。多共识编队控制的稳定性已被证明可以有效避免碰撞、保持连通性和生成编队。最终的数值模拟结果显示了我们设计的控制器的作用。