Multi-agent decentralized area search based on anti-flocking control

To achieve autonomous collaborative area search of multi-agent systems under a decentralized architecture, this paper designs a key benefit function for determining the γ-agent position based on the anti-flocking control protocol, and verifies it through simulation implementation. The simulation results show that compared to the existing method, the proposed method can achieve faster full area coverage while achieving obstacle avoidance ability and greater instantaneous coverage performance, verifying the effectiveness of the proposed method.