Persistent formation control of multi-robot networks
Brian Stephen Smith, Jiuguang Wang, Magnus Egerstedt · 2008
This paper presents a method for controlling formations of mobile robots. In particular, the problem of maintaining so-called “persistent formations” while moving the formation from one location to another is defined and investigated. A method for accomplishing such persistent formation motions is presented, and the method is demonstrated in simulation and with a prototype network of robots.