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The movement of cooperative robots in a densely cluttered environment may notbe possible if the formation type is invariant. Hence, we investigate a newmethod for time-varying formation control for a group of heterogeneousautonomous vehicles, which may include Unmanned Ground Vehicles (UGV) andUnmanned Aerial Vehicles (UAV). We have extended a Negative-Imaginary (NI)consensus control approach to switch the formation shape of the robots whilstonly using the relative distance between agents and between agents andobstacles. All agents can automatically create a new safe formation to overcomeobstacles based on a novel geometric method, then restore the prototypeformation once the obstacles are cleared. Furthermore, we improve the positionconsensus at sharp corners by achieving yaw consensus between robots.Simulation and experimental results are then analyzed to validate thefeasibility of our proposed approach.

Time-Varying Formation Control of a Collaborative Multi-Agent System Using Negative-Imaginary Systems Theory