IEEE Robotics & Automation Magazine - March 2014 - 28

Adaptable Robot
Formation Control
Adaptive and Predictive Formation Control
of Autonomous Vehicles

photo courtesy of authors

By Audrey Guillet, Roland Lenain, Benoit Thuilot,
and Philippe Martinet

T

he ability to use cooperative small vehicles is of
interest in many applications. From material
transportation to farming operations, the use of
small machines achieving small tasks, but able to
work together to complete larger tasks, permits us
to rely on a unique kind of vehicle. To be efficient, such a
point of view requires the vehicles to be, at least partially,
autonomous and their motion must be accurately
coordinated for the tasks to be properly achieved. This article
proposes a control framework dedicated to the accurate
Digital Object Identifier 10.1109/MRA.2013.2295946

Date of publication: 12 February 2014

28

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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MARCH 2014

control of a fleet of mobile robots operating in formation.
Decentralized control relying on interrobot communication
has been favored. To ensure a high relative positioning,
adaptive and predictive control techniques are considered,
allowing us to account for the influence of several phenomena
(such as dynamic perturbations or bad grip conditions)
depreciating the relevance of classical approaches based on
ideal robots and ideal contact conditions assumptions.
Mobile Robot Cooperation
The recent progresses of mobile robotics in various contexts
have been pointed out by the success of several teams in different challenges (such as those organized by the Defense
1070-9932/14/$31.00©2014IEEE



Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2014

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