Extension of Multi-robot Formation using Model Predictive Control

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.