Leader-Follower Based Formation Control of Heterogeneous UAV-AGV Multi-Agent System

Abstract

This paper deals with a leader-follower formation control of a heterogenous robot swarm. The heterogeneous swarm consists of unmanned ground vehicles (UGV) and unmanned aerial vehicles (UAV). The ground robot is the leader robot, and the drones are the followers. A centralized system receives the information about the robots, and the decision for the robots is made from there. The robots create the V formation shape and are assigned to the formation points using the Hungarian algorithm. The robots go to the formation points with a proportional controller. The system was developed using the ROS2 framework. Turtlebot3 and Crazyflie robots were used for the robot swarm. The study was tested in Webots simulation environment. Different tests were performed, and the results were observed.