Line Formation Using Multi-layer Control Scheme

This paper presents a strategy to guide multiple robots in a virtual adaptable structure. The Multi-Layer Control Scheme (MLCS) is here implemented in order to guide various robots during trajectory tracking and positioning tasks. In this work, the robots are split in sets of two agents to establish several line-structure formation, which are individually controlled. The proposal is validated numerically. First, two robots in line formation perform positioning task and then they follow a circular trajectory. In the sequel, five robots generate a regular polygon, which should follow a straight-line reference. The concept of line-formation can be expanded for n-robots, only establishing and rearranging the new regular polygon, in a closed rigid structure.