Multiple teams for mobile robot formation control

Formation control is one research topic among multirobot research issues. Among these formation research topics, they generally control multiple robots in only one team, and little research focuses on multi-team formation control. We use the VOMAS architecture to organize multiple teams in formation control, and the architecture has the advantages of scalability, autonomy, etc. We implement several formations in simulation, such as line, column, wedge, and platoon. We also implement a rescue mission to show the capability of multi-team control.