Decentralized formation control for movement of robots with dynamically changing conditions

The following control problem for group of mobile robots is considered: autonomous agents, which model mobile robots, should build certain formation and move to the target maintaining formation, using only local information. The suggested in this article approach differs by the way of defining formation: position of agents in formation is chosen dynamically. Suggested approach correctly handles situations of agent’s failure, new agent joining to formation and target position change. The usability of the method is confirmed by computer simulation. Algorithm was also analysed in cases when measurements have noise error and when obstacle is present in the environment.