The problem of formation control of a team of mobile robots based on the virtual and behavioral structures is considered in this paper. In the virtual structure, each mobile robot ismodeled by an electric charge. The mobile robots move toward a circle, and due to repulsive forces between the identical charges, regular polygon formations of the mobile robots will be realized. For swarm formation, a virtual mobile robot is located at the center of the circle, and other mobile robots follow it. In the introduced approach, each mobile robot finds its position in the formation

A Decentralized Cooperative Control Scheme With Obstacle Avoidance for a Team of Mobile Robots.pdf

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