Holonic Formation Control for Mobile Robots

Abstract

Within the research field of formation control, multiple robots are generally controlled in only one team. Not much research focuses on formation control with multiple teams, and even less research focuses on combining several formation teams into a larger one. To solve the problem of a formation consisting of several sub-formations, we use the concept of holon to propose an approach called holonic formation control. For such control, we describe a method to present the shapes of holonic formations and a method for these holonic formations to maintain formations. In addition, we design the architecture of the robot holon to control each mobile robot. The simulation results demonstrate that mobile robots can maintain holonic formations well and can perform multi-team holonic formations in a pursuit-evasion game.