Time varying formation control using feedback information differential game approach

This paper deals with the problem of time varying formation control of mobile robots. In other words, it is assumed that the formation can change during the mission due to circumstances. This goal has been achieved by using feedback information differential game. A time varying incidence determines the interconnection between robots. Varying shape of formation results in variation of incidence matrix elements. A feedback information Nash equilibrium solution is provided and the convergence of the proposed approach to the desired formation is studied. Finally, the effectiveness of the proposed method is verified by simulation results.