动态加入新成员时，仍能保持编队形状与稳定性。
Distributed Non-Uniform Scaling Control of Multi-Agent Formation with Dynamic Agent Joining
- 分布式控制框架支持任意维空间下动态增员。
- 新成员加入时编队形状可非均匀缩放，且保持图拉普拉斯谱特性。
- 适用于需要灵活扩编的多智能体系统场景。
非均匀缩放控制使多智能体系统能够在不同坐标轴方向以不同比例调整编队形状，从而在复杂环境中提供更高的灵活性。然而，与大多数现有编队机动策略类似，它通常假设智能体数量固定，限制了在需要动态团队扩展场景中的应用。本文提出一种分布式控制框架，使得编队在任意维度的非均匀缩放机动过程中，能够动态引入新智能体，同时保持图拉普拉斯矩阵的谱特性。仿真结果验证了理论结果的有效性。
原文摘要 · Abstract (English)
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing formation maneuver strategies, it typically assumes a fixed set of agents, limiting its applicability in scenarios requiring dynamic team expansion. This paper introduces a distributed control framework that enables a formation to incorporate new agents during non-uniform scaling maneuvers in arbitrary dimensions while preserving the spectral properties of the graph Laplacian. Simulation examples validate the effectiveness of the theoretical results.
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