Algorithm for structuring coordinated movement of a group of vehicles

An analytical algorithm for forming the structure of a group of mobile robotic vehicles at the flock and swarm level to ensure coordinated movement in space in the horizontal plane is proposed. An arbitrary shape of the group contour line and an algorithm for determining and ensuring the position of the group agents on it when moving with and without a leader are considered. The navigation information and analytical support necessary for the implementation of structured coordinated movement are determined and applied. A generalized structure of the leader control system is proposed for the possibility of remote control and autonomous movement along a given trajectory. Motion models are developed and dependencies are obtained to determine the mutual position of the leader and agents and ensure coordinated movement of the flock. A system for autonomous control of the coordinated movement of agents along a given trajectory with a constant course and when changing the course of movement is proposed.