  In this paper, we introduce a novel adaptation of the Raft consensus
algorithm for achieving emergent formation control in multi-agent systems with
a single integrator dynamics. This strategy, dubbed "Rafting," enables robust
cooperation between distributed nodes, thereby facilitating the achievement of
desired geometric configurations. Our framework takes advantage of the Raft
algorithm's inherent fault tolerance and strong consistency guarantees to
extend its applicability to distributed formation control tasks. Following the
introduction of a decentralized mechanism for aggregating agent states, a
synchronization protocol for information exchange and consensus formation is
proposed. The Raft consensus algorithm combines leader election, log
replication, and state machine application to steer agents toward a common,
collaborative goal. A series of detailed simulations validate the efficacy and
robustness of our method under various conditions, including partial network
failures and disturbances. The outcomes demonstrate the algorithm's potential
and open up new possibilities in swarm robotics, autonomous transportation, and
distributed computation. The implementation of the algorithms presented in this
paper is available at https://github.com/abbas-tari/raft.git.

Multiagent Systems