The paper presents a method for decentralized flocking and global formation building for a network of unicycle-like robots described by the standard kinematics equations with hard constraints on the robots linear and angular velocities. We propose decentralized motion coordination control algorithms for the robots so that they collectively move in a desired geometric pattern from any initial position. There are no predefined leaders in the group and only local information is required for the control. The effectiveness of the proposed control algorithms is illustrated via computer simulations and experiments with real robots. We present a method for decentralized flocking and global formation building for a network of unicycle-like robots.These robots are described by the standard kinematic equations with hard constraints on the robots linear and angular velocity.We prove the convergence of the proposed algorithm with probability 1.The effectiveness of the proposed control algorithm is illustrated via computer simulations and experiments with real robots.
['Andrey V. Savkin', 'Chao Wang', 'Ahmad Baranzadeh', 'Zhiyu Xi', 'Hung T. Nguyen']
Distributed formation building algorithms for groups of wheeled mobile robots