Study on Formation Control of Multi-Robot Systems

Abstract

Formation control is one of the most challenging problems in cooperative multi-robot. In this paper, an overview on the main issues for multi-robot formation control and the state of the art of the research in the field is presented. Firstly, we introduce some outstanding works in formation control architectures. Then a comparative analysis of popular formation control strategies is given. Finally, we close our review with some conclusions and suggest some future directions for research, such as hybrid control architectures, networked systems and information consensus.