Decentralized navigation of nonholonomic robots for 3D formation building

In this paper, we consider the problem of formation building in a 3D space for a group of mobile robots defined by the three degrees of freedom kinematics equations with the constraints on the mobile robots´ angular and linear velocities. We present a decentralized control law for the robots so that they move in a given geometric configuration from any initial position. Simulation results demonstrate that, using the suggested decentralized control law, all mobile robots will eventually converge to the given geometric configuration and move in the same direction.