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, vol.69, pp.114-118, 2022 (Peer-Reviewed Journal) identifier identifier

  • Publication Type: Article / Article
  • Volume: 69
  • Publication Date: 2022
  • Doi Number: 10.1109/tcsii.2021.3074705
  • Journal Name: IEEE Transactions on Circuits and Systems II: Express Briefs
  • Journal Indexes: Science Citation Index Expanded, Scopus, Aerospace Database, Applied Science & Technology Source, Communication Abstracts, Compendex, Computer & Applied Sciences, INSPEC, Metadex, Civil Engineering Abstracts
  • Page Numbers: pp.114-118
  • Keywords: Robots, Robot kinematics, Swarm robotics, Target tracking, Protocols, Circuits and systems, Robot sensing systems, Collective behavior, networked systems, formation coordination, robust control, mobile robots, swarm robotics, MULTIAGENT SYSTEMS, TRACKING


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.