Inverse optimal design of graphical formation control of mobile robots considering their kinematics and dynamics

In this paper, we propose an inverse optimal design method of a distributed graphical formation control of multiple mobile robots, where the group of robots configures the desired formation and moves with the same group velocity under the undirected graph topology. The robots' dynamics and kinematics are considered in the design. Under the assumption of perfect angular velocity tracking, the proposed protocol guarantees inverse optimality with respect to a meaningful cost function. Backstepping technique is employed to relax the assumption. Finally, the numerical simulation is carried out to verify the effectiveness of the proposed method.