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A Survey of Formation Control for Multiple Mobile Robotic Systems

Lintle Tsiu and Elisha Didam Markus
Department of Electrical, Electronic and Computer Engineering, Central University of Technology, Free State, South Africa

Abstract—Multiple mobile robotic systems have been applied in many scenarios. This is because they have obvious advantages compared to single mobile robotic systems. However, their control could be challenging and is still an open problem in robotic research. This paper presents a survey of the current state of affairs on formation control of multiple mobile robotic systems. The main contribution of this paper is to comprehensively analyse different cooperative multiple mobile robotic control techniques used in various literature. Different techniques were analysed, their strengths and weaknesses identified. However, differential flatness approach of cooperative multiple mobile robots control has not gained much popularity; thus a gap of future work was determined.

Index Terms—Formation control architectures, cooperative control, consensus, synchronization, centralized control, decentralized control


Cite: Lintle Tsiu and Elisha Didam Markus, "A Survey of Formation Control for Multiple Mobile Robotic Systems," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 11, pp. 1515-1520, November 2020. DOI: 10.18178/ijmerr.9.11.1515-1520

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.