Overtaking in Centralized Multi Robot Formation Control Based on Pedestrian Behavior

In this paper, we propose a technique for managing single robot failure in multi robot formation, namely overtaking behavior. This behavior is inspired by social force model (SFM) for pedestrian dynamics. The controller for robot formation is modeled and coupled with the overtaking algorithm. Simulations are then conducted to test the controller as well as the overtaking behavior. We demonstrate the performance of our algorithm and controller through experiments on Amigobot mobile robots. The simulation and experimental results show that our approach could tackle single robot failure in formation with line topology.