多机器人编队控制研究

多机器人编队控制是多机器人协调控制中一个最具有挑战性的研究问题。多机器人编队是指：一组相互协作的机器人组建和保持特定的队形形状。本文首先简要概述了多机器人编队问题的研究现状。从面向问题的角度出发，本文将编队问题分解成编队角色分配、队形生成、队形变换与选择、编队跟踪4个子问题，并针对每个子问题，总结了现有的研究方法。最后，本文特别强调编队控制中的网络问题并指明未来的研究方向。

Study on Multi-robot Formation Control

Formation control is an important issue in coordinated control for Multi-Robot Systems(MRS). Multi-robot Formation Control is defined as a coordination of a group of robots to get into and to maintain a formation with a certain shape. This paper begins with a brief research status of multi-robot formations Research. By using a problem oriented criterion, we classify publications and their research methods on formation control into 4 sub-problem which includes role assignment in formation, formation shape generation, formation reconfiguration and selection, and formation tracking. With particular emphasis on networking issues of formation, we point out future research topics in formation control.