Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots

In order to complete tasks efficiently, multiple robots are usually required to cooperate with each other. This leads to many requirements for the control strategy of multiple robots. In response to these needs, an edge-based event-driven consensus formation control strategy is proposed in this paper. The proposed formation control strategy merges virtual linkage formation control algorithm, edge-based event-driven consensus control algorithm and artificial potential field algorithm together. The virtual linkage formation control algorithm mainly controls the formation of multiple robot formations. The edge-based event-driven consistency control strategy is used to maintain the formation of multiple robots and increase energy utilization. The artificial potential field method is used to ensure the safe distance of each robot. The simulation experiment results prove that the proposed formation control strategy can realize the formation of multiple robots.