Abstract
Robotic swarms are groups of autonomous and self-organized mobile robots interacting under a communication network in order to accomplish cooperative tasks. This chapter will provide an overview on main outcomes on decentralized control in robotic swarms based on applications and the degree of autonomy in the view of stability and control theory. Based on application, we will categorize various problems in the area of robotic swarms such as swarming, formation, and consensus/rendezvous. First path planning and collision avoidance approaches for mobile robots will be introduced. Then, swarming and swarm formation of mobile robots as most important problems in control of multirobot systems will be investigated. Finally, the consensus and rendezvous as important problems in multirobot systems will be studied. In each category, existing structures will be classified and explained.
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