A Decentralized Formation Control Method Including Self-Organization Around A Target*

This paper presents a new strategy for formation control of multiple mobile robots to capture a target including self organization. A decentralized formation control is proposed to make the system more reliable and fault-tolerant. Acting on a hostile environnement, each robot of the formation has to avoid an obstacle. For that, we propose a new technique that modifies the trajectory behavior while preserving the formation convergence. LaSalle's theorem is applied to construct the proposed smooth continuous feedback control, to surround the target. The validity of convergence and obstacle avoidance is supported by computer simulation.