Decentralized Swarm Aggregation and Dispersion with Inter-Member Collision Avoidance for Non-holonomic Multi-Robot Systems

In this paper we present a formation control approach for team of unicycle mobile robots that exhibits both aggregation and dispersion behaviors. The approach is based on a attractive/repulsive potential function that models the inter- action between the robots using only local information, while also accounting for the physical limitations of the actuators. Throughout the paper we provide several simulation results and further analyze the swarm cohesiveness which shows asymptotic stability of the proposed controller.