[1]YANG Tian-tian,LIU Zhi-yuan,CHEN Hong,et al.Formation control of mobile robots: state and open prob lems[J].CAAI Transactions on Intelligent Systems,2007,2(4):21-27.
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Formation control of mobile robots: state and open prob lems

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 2 Number of periods: 2007 4 Page number: 21-27 Column: 综述 Public date: 2007-08-25
Title:
Formation control of mobile robots: state and open prob lems
Author(s):
YANG Tian-tian1;  LIU Zhi-yuan1;  CHEN Hong2;  PEI Run1 
1. Department of Control Science and Engineering, Harbin Institute of Technolog y, Harbin 150001, China; 　
2. Department of Control Science and Engineering, Jilin University, Changchun 130025, China
Keywords:
mobile robot;  formation control;  coordination;  cooper ation
CLC:
TP24
DOI:
-
Abstract:
In recent years, research on formation control has received a lot of attention i n robotics. This paper presents a comprehensive review of formation control for multiple mobile robots under different scenarios. Proposals for formation contro l reviewed include a behaviorbased approach, an artificial potential field app roach, a leaderfollower approach, a virtual structural approach, a cyclic appr oach, a model predictive control approach, and a distributed control approach. P roblems identified in working with each model’s theoretical and practical proper ties are discussed from the perspectives of generality, stability, robustness an d safety.
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