Multi-robot system formation navigation - directed and non-directed potential field approaches

A modified potential field approach is proposed for motion coordination in formations of multi-robot systems. The approach is briefly compared to related work. For the problem of moving in formation, a solution based on a directed potential field is presented. Different forces belonging to other robots and obstacles are combined and used to move each robot to its desired position inside the formation. While moving in formation, the group is able to avoid obstacles and move toward a specified target. Results of experiments are presented to illustrate the differences and improvements of this approach in comparison with the classical method