Methods of Formation Control for a Group of Mobile Robots (a Review)

Abstract

The multi-robot formation control is an essential issue in robotics. This review focuses on important lines of research on current contr ol is s ues and s tr ateg ies on a g r oup of unmanned autonomous vehicles/r obots for mation. In this paper, we pr ovide a br ief description of each method characterizing its key benefits and drawbacks. A multilayered classification of both centralized and decentralized formation control methods is proposed. We consider the classification of robot communication topologies in terms of centralized control. Seminal works dedicated to the practical application of centralized approach are briefly discussed. The majority of centralized methodsare represented by a " leader-follower" approach, taking into account the robot’s dynamics models. Furthermore, the most common models of vehicle dynamics are mentioned. In the framework of decentralized approach, behaviour-based algorithms, as well as swarm algorithms, are discussed. Then, we present an outlook of both centralized and decentralized virtual structure methods used in robot formation control. The described modifications of these methods allow tracing the evolution of the virtual structure approach to hybrid algorithms used for cooperative movement of a group of robots. This paper deals with formation control approach considering communication delays and low carrying capacity in an inter-vehicular communication network as very few works discussed this issue despite its relevance. We pointed out the main development trends of formation control approaches. The most effective approach is the integration of various methods of the formation control so that their disadvantages are nullified. As the same time, the most common disadvantage of discussed formation control methods is their weak conceptual framework in terms of kinematic and dynamic constraints of robots.