Motion coordination in formations of multiple mobile robots using a potential field approach

This paper presents a novel approach for motion coordination in formations of multi-robot-systems (MRS). First a short introduction to the application of MRS navigation is given. For the special sub-problem of moving in formation, a solution based on a potential field approach is presented. Different forces belonging to other robots, obstacles and the aspired shape of formation 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 approach towards a specified target. First results in simulation show that a group of robots can form up a rectangle or circle even in the presence of obstacles