Coordination of Robot Teams: A Decentralized Approach

  • Rafael Fierro
  • Peng Song
Part of the Systems and Control: Foundations & Applications book series (SCFA)


In this chapter, we present two main contributions: (1) a leader-follower formation controller based on dynamic feedback linearization, and (2) a framework for coordinating teams of mobile robots (i.e., swarms). We derive coordination algorithms that allow robot swarms having independent goals but sharing a common environment to reach their target destinations. Derived from simple potential fields and the hierarchical composition of potential fields, our framework leads to a decentralized approach to coordinate complex group interactions. Because the framework is decentralized, it can potentially scale to teams of tens and hundreds of robots. Simulation results verify the scalability and feasibility of the proposed coordination scheme.


Mobile Robot Trajectory Tracking Cooperative Control Kumar Versus Robot Team 
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© Birkhäuser Boston 2006

Authors and Affiliations

  • Rafael Fierro
    • 1
  • Peng Song
    • 2
  1. 1.School of Electrical and Computer EngineeringOklahoma State UniversityStillwaterUSA
  2. 2.Department of Mechanical and Aerospace EngineeringRutgers, The State University of New JerseyPiscatawayUSA

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