Formation Maneuvering Control of Nonholonomic Multi-Agent Systems Available to Purchase

In this paper, we present a leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. Our solution is based on the graph that models the coordination among the robots being a spanning tree. Our kinematic control law ensures, in the least squares sense, that the robots globally exponentially acquire a given planar formation while the formation globally exponentially tracks a desired trajectory. The proposed control is demonstrated by numerical simulations of five unicycle vehicles.