Stable Swarm Formation Control Using Onboard Sensor Information

  • Viet-Hong Tran
  • Suk-Gyu Lee
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6146)


In this paper, a stable leader-following formation control for multiple mobile robot systems with limited sensor information is studied. The proposed algorithm is to control a robot (follower) to follow another robot (leader), and easily extended to form any complex formation. The control algorithm requires information available from onboard sensors only, and utilizes estimation of leader’s acceleration in a simple form to reduce measurement of indirect information. There is also a rule to tune parameters of control in application.


formation control leader-following control swarm robotics stability nonlinear 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Viet-Hong Tran
    • 1
  • Suk-Gyu Lee
    • 1
  1. 1.Department of Electrical EngineeringYeungnam UniversityGyeongsanKorea

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