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Multi-Robot Formation Control via Queue-Formation Scheme with Limited Communication Capabilities

This paper presents a novel approach for multi-robot formations based on a queue-formation scheme that addresses limited communication scenarios. By dividing information flow into fast and slow time scales, the proposed method significantly reduces communication load among robots. A dynamic target determination algorithm utilizing Q-structure enhances the scalability of formations when compared to existing methods. Additionally, we conduct convergence and stability studies to define the appearance of formations through queue structures and vertices, ensuring robust and efficient multi-robot coordination.

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Multi-Robot Formation Control via Queue-Formation Scheme with Limited Communication Capabilities

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  1. Multi-Robot Formations based on the Queue-Formation Scheme with Limited Communications C. Fua1, S. S. Ge1, K. D. Do2, K. W. Lim3 1National University of Singapore, 2University of Western Australia, 3Singapore Institute of Manufacturing Technology • Division of information flow into fast and slow time scales, reducing communications load • Dynamic target determination algorithm based on Q-structure for better scaling compared to original scheme • Convergence & stability studies for the system Defining the appearance of formations using queues & queue vertices (circles)

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