A control scheme for improving multi-vehicle formation maneuvers

Abstract

In this paper we present a control scheme for improving multiple vehicles formation maneuvering. The advantage of this control scheme is that it makes it easy to prescribe formation maneuvers, has stability guarantees and adds a type of robustness to maneuvering formations through the use of group feedback. For moving multiple vehicles in formation the added advantages of this control scheme are explored through simulation and hardware results using wheeled mobile robots.