Extension of Multi-robot Formation using Model Predictive Control

Anjan Ray, TM McGinnity, SA Coleman, Laxmidhar Behera

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


In this paper, we develop a coordination and formation maintenancetechnique for a group of mobile robots. Any one of the front members can act asthe leader of the group; other members decide and adjust their motion accordingto decisions of the leader. Furthermore, the front members of the group remainthe same as the front members keep their relative headings with respect to theleader. We present experimental verifications using various co-ordinations of agroup of Pioneer P3-Dx mobile robots within a formation. Another scheme isproposed based on model predictive control (MPC) for extending the formation.Simulation results are included to show the possibilities of the proposed method.The experimental and simulation studies demonstrate that the robots can followthe motion patterns of the leader whilst maintaining a safe separation distancefrom each other.
Original languageEnglish
Title of host publicationUnknown Host Publication
PublisherInternational Standard Recording Code
Number of pages10
Publication statusPublished (in print/issue) - 31 Aug 2011
EventIrish Conference on Artificial Intelligence and Cognitive Science - Londonderry
Duration: 31 Aug 2011 → …


ConferenceIrish Conference on Artificial Intelligence and Cognitive Science
Period31/08/11 → …


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