Layered framework for formation control of multiple mobile robots - a state based approach

In this paper, a software modelling and a layered framework for controlling multiple mobile robots in a Leader - Follower formation is proposed. The supervisor level in the framework handles the higher level missions such as formation and interobot communication, and the lower level deals with the dynamic control of robots while navigating the environment. Dynamic switching control strategy between behaviours and robots for formation keeping and active obstacle avoidance are incorporated. This allows the robots to trade their roles between them and serves to avoid obstacle while maintaining the desired formation. A novel state based modelling framework based on the relative motion states of the robots using Augmented Finite State Machine (AFSM) concept is also presented in this paper. Performance of this approach is investigated through state based simulations via Simulink/Stateflow and the results are discussed.