A Self-Organized Line Marching Formation Control Algorithm

Most of the existing exact formation control algorithms for multiagent systems are label-specified, i.e., the desired position for each agent in the formation is pre-specified by its label. In this paper, a self-organized control algorithm is proposed for line marching formation of a team of planar kinematic robots. The desired positions for the robots in the formation are not label-specified, but determined dynamically. By constantly forming a chain of leader-follower pairs, exact formation can be achieved by pairwise leader-follower tracking. Comprehensive simulation results are provided to evaluate the performance of the proposed control algorithm.