A unified formation control policy of multi-robot system

Abstract

A unified formation control policy is presented. From the trajectory and shape aspects, the group formation control problem is decoupled into the desired trajectory tracking problem of each individual, and the consistency of stability and optimality between these two problems are proved. The overall criterion and decomposed criterions to evaluate the formation performance are designed. The decomposed criterions reflect the trajectory tracking precision and shape distortion degree, and they are an orthogonal decomposition of the overall criterion. Analysis show the control policy can be extended into the flexible formation applications.