Formation control for networked centric collective robot (NCCR) with restricted communication capability

There are various types of tasks performed by the network centric collective robot (NCCR) such as synchronous behavior control signaling, map sharing, and basic monitoring the situation. Since these tasks require a massive and various communication loads, the task efficiency of the NCCR may be greatly affected. Also, if the formation control used as the method of robot communication based on distributed control system, the task may limit the effectiveness of the robot operations. In this paper, we propose a method of formation control to improve the efficiency of the robot tasks because robot has a variety of communication-range and handling-load capacity.