Autonomous shape and structure formation is an important problem in the domain of large-scale multi-agent systems. In this paper, we propose a 3D structure representation method and a distributed structure formation strategy where settled agents guide free moving agents to a prescribed location to settle in the structure. Agents at the structure formation frontier looking for neighbors to settle act as beacons, generating a surface gradient throughout the formed structure propagated by settled agents. Free-moving agents follow the surface gradient along the formed structure surface to the formation frontier, where they eventually reach the closest beacon and settle to continue the structure formation following a local bidding process. Agent behavior is governed by a finite state machine implementation, along with potential field-based motion control laws. We also discuss appropriate rules for recovering from stagnation points. Simulation experiments are presented to show planar and 3D structure formations with continuous and discontinuous boundary/surfaces, which validate the proposed strategy, followed by a scalability analysis.

翻译：自主形状与结构形成是大规模多智能体系统领域中的一个重要问题。本文提出了一种3D结构表征方法及分布式结构形成策略，其中已就位的智能体引导自由移动的智能体到达指定位置以形成结构。处于结构形成前沿的智能体在寻找邻居进行就位时充当信标，通过已就位智能体的传播，在整个已形成的结构中生成表面梯度。自由移动的智能体沿着已形成结构表面的表面梯度移动至结构形成前沿，最终到达最近的信标并完成就位，随后通过局部竞标过程继续结构形成。智能体的行为由有限状态机实现以及基于势场的运动控制律共同控制。我们还讨论了从停滞点恢复的适当规则。通过仿真实验展示了具有连续/不连续边界/表面的平面与3D结构形成过程，验证了所提策略的有效性，并进行了可扩展性分析。