Centralized and decentralized multi-robot control methods using the cluster space control framework

The cluster space control technique promotes simplified specification and monitoring of the motion of mobile multi-robot systems. Previous work has established the conceptual foundation of this approach and has experimentally verified and validated its use. In this publication, we summarize the definition of the cluster space framework for planar robots and study some of the most common formation control methods found in the literature from the cluster space perspective. In doing this, we show that our proposed formation control framework can be implemented in various ways; as a centralized or distributed system, and with different levels of scalability depending on the particular cluster definition chosen. In particular, lead-follower, potential functions and virtual structures approaches are analyzed with the intent of addressing the generality and flexibility of the cluster space formation control approach. Experimental results illustrate the different implementations which are then compared and contrasted.