CPC H04W 16/26 (2013.01) [H04B 7/18506 (2013.01); H04W 40/246 (2013.01); H04W 84/005 (2013.01)] | 20 Claims |
1. A method for controlling the position of an updating agent in a decentralised multi-agent system, the method comprising:
identifying a first neighbouring agent within a communicative range of the updating agent;
estimating a first distance to the first neighbouring agent and a first direction to the first neighbouring agent;
determining a movement direction based on the first direction to the first neighbouring agent;
determining a movement magnitude based on an activation function, the first distance to the first neighbouring agent, and a desired reference distance, wherein:
the activation function is configured such that the greater the difference between the first distance to the neighbouring agent and the desired reference difference, the larger the movement magnitude; and
moving the updating agent based on the movement direction and the movement magnitude.
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