Coordination and control of a group of small mobile robots

The task of coordinating and controlling a group of small mobile robots may be decomposed into five subtasks: formation of geometric pattern, alignment of each robot´s orientation, coordination of the robots in the group, motion realization and stability of the formation in motion. The technique of imposing constraint conditions is utilized to coordinate and control the formation. Group stability is presented in terms of the bound of the transient response of the formation system