Consensus-based formation control for multiple nonholonomic robots

This paper presents a decentralized consensus-based formation controller that considers both, the kinematic and the dynamic model, to asymptotically drive a network composed of N nonholonomic mobile robots to a desired formation with a given orientation. The network is modeled as an undirected, static and connected graph. The controller is a simple time-varying PD-like scheme. Simulations, using a network with six nonholonomic mobile robots are reported to support the theoretical contributions.