Collision avoidance at swarm regrouping using modified network operator method with various number of arguments

In this paper we consider collision avoidance at swarm regrouping, one of the fundamental problems in the field of mult-agent systems. We give each mobile robot its own optimizer which is able to search in the space of functions from variable number of arguments. Moving towards the target without outside interference a modified network operator of a particular robot represents a control function from discrepancy between current and terminal states. If some another robot arises on his way to the target, the argument base of the control function extends to the discrepancy between considering and neighboring robot's states. We use modified network operator to synthesize the control function which encoding scheme of mathematical expression is more concise compared with classical version of the method. The experimental part demonstrates strong result for a swarm of 18 robots. © 2019 IEEE.