On leader-based shape coordination

Abstract

In this paper, we consider leader-based shape coordination for multi-robot systems. It is shown that having knowledge about desired velocity and effective interaction among individuals can help group members to continue the path even after leader failure. Since any collective behavior emerges from interaction among individuals, we propose interactive force to maintain minimum distance among agents as well as group unity during movement even after leader failure. Simulation results are presented to illustrate the performance of proposed method.