Switching Between Formation in a Moving Shape for Multi-Robots via Synchronization Approach

This paper extends the synchronization approach for formation control of multiple mobile robots. In this work, the formation shape is moving in a straight line while it is changing with time. Each robot is controlled to track its desired trajectory while synchronizing it is movement with the two neighboring robots to maintain a time-varying desired formation. The proposed synchronous controller guarantees the asymptotic stability of both position errors and synchronization errors. Simulation results show the effectiveness of the proposed synchronous controller in navigation.