Formation control for multiple mobile robots based on the Spiking Neural Network

In this paper, a Spiking Neural Network (SNN) based controller is designed to fulfill the task of formation control of multiple mobile robots. The neural network contains three layers with different neuron model for different layer: the input layer encodes the inputs including sensor and task-related information by leaky integrate-and-fire (LIF) neurons, the hidden layer uses the approximate coincidence detection coding to fuse the information from the input layer and the spike response model (SRM model) is applied to the output layer to fire spikes to drive the motors. By the leader-follower strategy and the SNN controller, the multiple mobile robots system can realize the formation control. The validity of this controller is testified by the simulations.