Control Architecture for Autonomous Multi-Robot System: Survey and Analysis

The basic consideration of autonomous multi-robot system (MRS) control architecture is dealing with the whole system as a group, in which the individual robots interact with each other, avoid conflict, and cooperate to accomplish the tasks reliably and efficiently in complex environment. This paper systematically surveys and summarizes related studies on control architectures for multi-robot systems from definition and evolutions to theories and technologies corresponded to research field. Some representational demonstrations and instances are analyzed. Finally the future directions of autonomous MRS architecture are overlooked in the end.