Decentralized Formation Control for Small-Scale Mobile Robot Teams

Abstract

Abstract: We present a new formation control framework for small-scale, distributed mobile robot teams that can adjust their formation to adapt to a variety of circumstances. Specifically, a neighbor-referenced decentralized approach is proposed to generate and keep geometric shapes. It is also demonstrated by simulation that robots continue to strive toward achieving their mission even if a part of team is unable to function normally. Key Words: formation control, small-scale teams, neighbor robots, self-organization 1.