Abstract
In this paper, a new position feedback based formation control method for heterogeneous multi-robot teams is presented and evaluated. The formation behaviors are integrated with dynamic reference object based collaborative navigation and efficient obstacle avoidance to maintain and change formation real-time. This method is computationally efficient and easy to coordinate in heterogeneous systems. The time to formalize and switch specified formation patterns can be controlled by adjusting the position feedback parameter. Satisfactory experimental results are obtained in simulation and real heterogeneous multi-robot system which consists of autonomous vehicles and legged robots.
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