Optimal Automatic Formation Control for Two-Wheeled Vehicles Using Model Predictive Control with Temporal Logic Constraints

Recently, formation control in which multiple vehicles travel while maintaining a certain shape or switching some forms has been studied. There are many advantages compared with a single vehicle such as more effcient, scalability, versatility, and redundancy against individual failure. However, many papers assume a suffiently large space, and a few papers consider the surrounding environment. Hence, it is necessary to consider environment in limited space for safety. Therefore, this paper proposes an optimal automatic formation control method according to the environment. In our approch, the edge of curse are defid as the environment and optimal formation is automatically determined among predefined formations in real time using model predictive control. In addition, we introduce temporal constraints so that we an specify formation when a certain formation is requested during cruising.