Neural oscillator-based multi-robot coordination algorithm to catch-Observe-Protect a target

In this paper a neural oscillator-based algorithm for the multi-robot navigation, coordination and formation control is proposed. A group of robots is directed to move towards a static or dynamic target in such a way that the robots gradually get apart from each other. The robots reach the target at a desired distance from it, keeping equally distributed angles around the target. In this way the target can be Caught, Observed or Protected (COP) by the robots. The algorithm is also extended to an obstacle avoidance problem. The effectiveness of the proposed method is first verified through simulation results and then the algorithm is applied to mobile robots for experimental verification.