A Dynamic Role Assignment Formation Control Algorithm Based on Hungarian Method

In the multi-robot systems, a great challenge is the development of algorithms to dynamically assign positions to robots and to form a desired formation, not relying on a priori assignment information. In this paper, to address this problem, we propose a dynamic role assignment formation control algorithm based on an improved Hungarian method that combines role assignment and formation synthesis together. This algorithm can synchronously finish role assignment and decide where to form the predefined formation with the lowest cost. And the improved Hungarian method guarantees that no matter the number of robots and the number of positions are equal or not the algorithm can always achieve the desired formation. We evaluate the performance of our algorithm through a series of simulation experiments and comparison with other algorithms. The results prove that the presented algorithm is flexible, accurate and efficient.