Multi-robot formation tracking algorithm and implementation

We introduce a formation tracking algorithm of multi-robot system based on a partial differential equation (PDE) model, which allows robots to keep a desire formation while moving around the orbit. We discretize the PDE model to get a leader-follower distributed control law, in which the follower robots just need to know their neighbors' position. And then, we design an experiment to verify the formation tracking algorithm. In the experiment, Kalman filter is used to enhance the accuracy of the positioning, and model predictive control is used to realize the movement control of each robot. During the movement control, we apply the artificial potential field approach to realize obstacle avoidance.