A Sequencable Flocking Control System of Multiple Mobile Robots

In this paper, a scheme for flocking control of a network of mobile robots is presented. On the basis of existed theory on flocking of mobile agents, a sequencable formation control mechanism is recommended. To transform the agent-based flocking control strategy to network of mobile robots, an overall control algorithm is devised to take into account the dynamics of nonholonomic mobile robots. Furthermore, the flocking performance analysis method based on least stability time (LST) is introduced to analyze sequencable flocking system. A number of theoretical design and analysis issues associated with this framework are addressed in this paper. The simulation and experiment results demonstrate the efficacy of the proposed procedure.