Robust Consensus-Based Formation Control of Multi-Robot Systems with Guaranteed Safety

This paper studies the safe leader-following formation control for multiple wheeled-mobile-robots (WMRs) sub-jected to bounded external disturbances under directed communication topology. A consensus-based sliding-mode formation control law is combined with safety barrier certificates for obstacle avoidance and collision-free based on control barrier function (CBF) manipulated by quadratic programming(QP). The development method can realize stable leader-following formation control of multiple WMRs meanwhile guaranteeing collision/obstacle-avoidance. Finally, the proposed control scheme is verified through a numerical simulation.