A Survey of Formation Control for Multiple Mobile Robotic Systems

Abstract

Multiple mobile robotic systems have been applied in many scenarios. This is because they have obvious advantages compared to single mobile robotic systems. However, their control could be challenging and is still an open problem in robotic research. This paper presents a survey of the current state of affairs on formation control of multiple mobile robotic systems. The main contribution of this paper is to comprehensively analyse different cooperative multiple mobile robotic control techniques used in various literature. Different techniques were analysed, their strengths and weaknesses identified. However, differential flatness approach of cooperative multiple mobile robots control has not gained much popularity; thus a gap of future work was determined.