Discrete-time formation and marching control of Multi-Agent Robots Systems

This paper presents a discrete-time formation and marching control for Multi-Agent Robots Systems (MARS) based on artificial potential function and the leader-follower scheme. The leader robot must track a prescribed trajectory and the rest of the robots follow the leader whereas archive a desired formation pattern. The controller is designed based on a discrete-time nonlinear approximate model of an unicycle-type robot. The model is derived by using the forward difference method (Euler approximation). Simulation and experimental results are presented to validate the proposed control.