Persistent formation control of multi-robot networks

— This paper presents a method for controlling formations of mobile robots. In particular, the problem of maintaining so-called “persistent formations” while moving the formation from one location to another is defined and investigated. A method for accomplishing such persistent formation motions is presented, and the method is demonstrated in simulation and with a prototype network of robots.

• Type: Conference
• Year: 2008
• Where: CDC
• Authors: Brian Stephen Smith, Jiuguang Wang, Magnus Egerstedt
• Keywords: CDC 2008, Control Systems, Mobile Robots, Persistent Formation, Persistent Formation Motions