Multi-cluster coordinated movement and dynamic reorganization

This paper makes an attempt to apply the Hamilton formalism method to the numerical solutions of multi-cluster coordinated movement and dynamic reorganization problems. In order to ensure the smooth wireless information exchange, for each cluster, all members are located in a virtual (spherical or ellipsoidal) container during the entire movement process. First, virtual (spherical or ellipsoidal) container tube is constructed as the external state constraint of each cluster. Next, the corresponding value function is formulated based on the collision avoidance conditions and energy constraints in the process of the team motion. Finally, time dependent partial differential equations are established based on the Hamilton formalism, which could be solved numerically by using the finite difference method (FDM).