Glocal controller-based formation control strategy for flexible material handling

This paper proposes a framework for decentralized multi-agent cooperation to achieve flexible material handling. The aggregation and formation control of multiple homogeneous transport robots with differential wheel dynamics is considered. The main contribution is the design of a two-layer hierarchical structure based on the glocal control strategy, allowing local agents to achieve global objectives. The first layer describes the interconnection between agents with regards to a pre-determined formation. The second layer utilizes a virtual leader concept that allows the group to move towards a global target position. In flexible material handling, this corresponds to the transport of a work piece from Station A to Station B along a certain path, while maintaining a required formation. The proposed framework is implemented and tested in simulation for a four-agent system moving in environments with static obstacles.