Distributed formation control for nonholonomic mobile robots

In this paper, we propose a new nonlinear cooperative steering control to solve the formation control problem for multiple mobile robots with nonholonomic constraints. By using a new contraction mapping method, it is rigorously proved that the proposed cooperative formation control is asymptotically stabilizing under the condition that the sensing/communication network among robots is sequentially complete. Simulation results are included to illustrate the effectiveness of the proposed control.