Distributed Formation Control of Multiple Mobile Robots: An Adaptive Event-triggered Approach

In our work, the distributed formation issues for mobile robots are discussed. In particular, a novel adaptive even- triggered communication strategy is investigated to improve the information exchange efficiency among neighboring robots. With the aid of Lyapunov-Krasovskii method, sufficient configuration formation criterions are established by convex optimization. Subsequently, the event-triggered parameters along with formation controller parameters can be developed, respectively. At last, the validity of our proposed formation design is validated via an illustrate example.