Robust Formation Adaptation for Mobile Platforms with Noisy Sensor Information

In this paper stability and formation adaptation of mobile multi-agent systems with limited sensor information is studied. A globally stable control for line formations with varying separations and bearing angles between the agents is evaluated in simulations and experiments with Khepera robots. The control algorithm only requires information available from on-board sensors, although stability is improved if communication and sharing of information between the agents is possible. In addition, the control only needs a coarse estimation of the actual target speed