Leader-follower configuration based formation control of multi-agent systems

This work presents a comprehensive study on the formation control of multi-agent systems (MAS) implementing Proportional-Integral-Derivative (PID) control within the Robot Operating System (ROS) environment. The primary objective is to achieve precise formation maintenance and effective trajectory control for multiple robots in various formations. The methodology involves the implementation of PID control algorithms for the leader and follower robots, leveraging ROS for real-time control. Different formation patterns are explored and the system's performance is evaluated under various conditions. Finally, simulation results demonstrate the effectiveness of the proposed control strategy in maintaining formation integrity and ensuring smooth trajectory tracking. Meanwhile, the findings underscore the potential of MAS control in facilitating advanced robotic coordination and illustrating its adaptability to various scenarios.