Matrix analysis
Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Leader-following formation control based on pursuit strategies
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Information Sciences: an International Journal
Experimental validation of collective circular motion for nonholonomic multi-vehicle systems
Robotics and Autonomous Systems
Attractor dynamics approach to formation control: theory and application
Autonomous Robots
Multi-group coordination control for robot swarms
Automatica (Journal of IFAC)
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
International Journal of Robotics Research
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In the exploration and implementation of formation control strategies, communication range and bandwidth limitations form a barrier to large scale formation control applications. The limitations of current formation control strategies involving a leader-follower approach and a consensus-based approach with fully available group trajectory information are explored. A unified, distributed formation control architecture that accommodates an arbitrary number of group leaders and arbitrary information flow among vehicles is proposed. The architecture requires only local neighbor-to-neighbor information exchange. In particular, an extended consensus algorithm is applied on the group level to estimate the time-varying group trajectory information in a distributed manner. Based on the estimated group trajectory information, a consensus-based distributed formation control strategy is then applied for vehicle level control. The proposed architecture is experimentally implemented and validated on a multi-robot platform under local neighbor-to-neighbor information exchange with a single or multiple leaders involved.