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In this paper, a stable leader-following formation control for multiple non-holonomic mobile robot systems using only limited on-board sensor information is proposed. The control can be used for the conventional single leader – single follower (SLSF) or for novel two leaders – single follower (TLSF) schemes. The control algorithm utilizes estimations of the leaders' translational and angular accelerations in a simple form to reduce the measurement of indirect information. Simulation results show that the TLSF scheme can suppress the oscillation and damping in formation of large robot teams

A Stable Formation Control Using Approximation of Translational and Angular Accelerations