Robust formation control of multi-robot systems subject to interconnection time-delays using minimum dynamic communication

In this research, firstly, a Minimum Spanning Tree-based local communication algorithm is employed to incur less data propagation. Furthermore, approvingly it always preserves network connectivity and is favorable to practical implementation as well. Secondly, desired rigid formation pattern is achieved by utilizing graph Laplacian and feedback control theory. Then emphasis is placed upon the time-delay influence on the acquired formation in the situation where interconnection time-delays occur in certain information flow channels while robots are communicating with spatially separated neighboring robots. A robust stabilization scheme is discussed to largely improve or even recover the destroyed formation pattern. Simulations verify the effectiveness of the proposed approaches to formation control.