Formation Control of Mobile Robots

  • Dang Binh Nguyen Thai Nguyen University of Technology Rector’s Office 3-2 Street, Thai Nguyen City, Vietnam
  • Khac Duc Do School of Mechanical Engineering The University of Western Australia 35 Stirling Highway, Crawley, WA 6009, Australia


A constructive method is presented to design cooperative controllers that force a group of N mobile robots to achieve a particular formation in terms of shape and orientation while avoiding collisions between themselves. The control development is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision occurs. The proposed controller development is also extended to formation control of nonholonomic mobile robots.


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How to Cite
NGUYEN, Dang Binh; DO, Khac Duc. Formation Control of Mobile Robots. INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL, [S.l.], v. 1, n. 3, p. 41-59, july 2006. ISSN 1841-9844. Available at: <>. Date accessed: 07 mar. 2021. doi:


Formation control, mobile robot, local potential function, nonholonomic mobile robot