Synthesis of Multi-robot Formation Manoeuvre and Collision Avoidance

This paper presents the synthesis of a multi-robot formation manoeuvre and collision avoidance. Turning-compliant waypoints are first achieved to support the multi-robot formation manoeuvre. The formation-based collision avoidance is then presented to translate the collision avoidance problem into the formation stability problem. The extension-decomposition-aggregation scheme is next employed to solve both the formation control problem and the collision avoidance problem during the multi-robot formation manoeuvre. Simulation study finally shows that the formation control and the collision avoidance can be simultaneously solved if the stability of the expanded formation including unidentified objects can be satisfied.