Robust mobile robotic formation control using Internet-like protocols

This work presents an internet-like protocol (ILP) to coordinate the formation of n second-order agents in a two dimensional (2D) space. The trajectories are specified trough via points and a desired formation at each point. A basis for the proof of convergence is given using Lyapunov second method. Simulink is used to verify the response of the agents for a variety of desired trajectories. The proposed algorithms are robust in the sense that they can accommodate changes in the formation of the agents and more importantly, changes in the number of agents as some of them drop of or join the formation.