Robust Formation Coordination of Robot Swarms with Nonlinear Dynamics and Unknown Disturbances: Design and Experiments

Hu J., TURGUT A. E. , Lennox B., Arvin F.

IEEE Transactions on Circuits and Systems II: Express Briefs, 2021 (Journal Indexed in SCI Expanded) identifier

  • Publication Type: Article / Article
  • Volume:
  • Publication Date: 2021
  • Doi Number: 10.1109/tcsii.2021.3074705
  • Title of Journal : IEEE Transactions on Circuits and Systems II: Express Briefs


IEEECoordination of robot swarms has received significant research interest over the last decade due to its wide real-world applications including precision agriculture, target surveillance, planetary exploration, etc. Many of these practical activities can be formulated as a formation tracking problem. This brief aims to design a robust control strategy for networked robot swarms subjected to nonlinear dynamics and unknown disturbances. Firstly, a robust adaptive formation coordination protocol is proposed for robot swarms, which utilizes only local information for tracking a dynamic target with uncertain maneuvers. A rigorous theoretical proof utilizing the Lyapunov stability approach is then provided to guarantee the control performance. Towards the end, real-time hardware experiments with wheeled mobile robots are conducted to validate the robustness and feasibility of the proposed formation coordination approach.