Collective torus control of multi-robot systems

Collective circular motion phenomena are common in both natural systems and engineering applications. The theoretical research was intensively conducted recently in [1] to reveal the fundamental control mechanism. The research reported in this paper aims to pave the way from theoretical design to practical implementation by addressing a set of issues encountered in real applications. As a result, a practically effective control algorithm is successfully implemented and examined for a multi-robot system to achieve a desired circular formation