Formation control of mobile robots: state and open problems

Abstract

In recent years, research on formation control has received a lot of attention in robotics. This paper presents a comprehensive review of formation control for multiple mobile robots under different scenarios. Proposals for formation control reviewed include a behavior-based approach, an artificial potential field approach, a leader-follower approach, a virtual structural approach, a cyclic approach, a model predictive control approach, and a distributed control approach. Problems identified in working with each model's theoretical and practical properties are discussed from the perspectives of generality, stability, robustness and safety.