Information Theory in Formation Control: An Error Analysis to Multi-Robot Formation

Abstract

Multi-robot formation control makes prerequisites for a team of robots to execute complex tasks cooperatively, which has been widely applied in both civilian and military scenarios. However, the limited precision of sensors and controllers may inevitably cause position errors in the finally achieved formation, which will affect the tasks undertaken. In this paper, the formation error is analyzed from the viewpoint of information theory. The desired position and the actually achieved position are viewed as two random variables. By calculating the mutual information between them, a lower bound of the formation error is derived. The results provide insights for the estimation of possible formation errors in the multi-robot system, which can assist designers to choose sensors and controllers with proper precision.