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In this paper, we present a new leader-follower type solution to theformation maneuvering problem for multiple, nonholonomic wheeled mobile robots.The solution is based on the graph that models the coordination among therobots being a spanning tree. Our decentralized control law ensures, in theleast squares sense, that the robots globally acquire a given planar formationwhile the formation as a whole globally tracks a desired trajectory. Thecontrol law is first designed at the kinematic level and then extended to thedynamic level. In the latter, we consider that parametric uncertainty exists inthe equations of motion. These uncertainties are accounted for by employing anadaptive control scheme. The proposed formation maneuvering controls aredemonstrated experimentally and numerically.

Formation Maneuvering Control of Multiple Nonholonomic Robotic Vehicles: Theory and Experimentation