Multi-Robot Formation Control with Human-on-the-Loop

This paper develops a double-layered framework for a system of multiple heterogeneous robots to navigate in a pre-specified formation shape with/without guidance from human operators. In the first layer, a multi-robot system maintains a formation with a global leader; in the second layer, the global leader can integrate human guidance in terms of waypoints if there are any. Both simulation results and experimental implementation are given to verify the proposed framework.