A decentralized approach to formation maneuvers
Lawton, J.R.T.; Beard, R.W.; Young, B.J.
Robotics and Automation, IEEE Transactions on
Volume 19, Issue 6, Dec. 2003 Page(s): 933 - 941
Digital Object Identifier   10.1109/TRA.2003.819598
Summary: This paper presents a behavior-based approach to formation maneuvers for groups of mobile robots. Complex formation maneuvers are decomposed into a sequence of maneuvers between formation patterns. The paper presents three formation control strategies. The first strategy uses relative position information configured in a bidirectional ring topology to maintain the formation. The second strategy injects interrobot damping via passivity techniques. The third strategy accounts for actuator saturation. Hardware results demonstrate the effectiveness of the proposed control strategies.

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