Thinking in formation control

摘要

Abstrcat An introduction in the field of multi-robot formation control is provided with a focus on the various methods that have been put forward by researchers. The works had been done in the field are reviewed. The various methods are described and compared. The something that is missing in current research and the factors that must be considered in designing a multi-robot formation system are pointed out. At last, the directions of further research are proposed.