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In this paper, we present the design and implementation of a robust motionformation distributed control algorithm for a team of mobile robots. Theprimary task for the team is to form a geometric shape, which can be freelytranslated and rotated at the same time. This approach makes the robots tobehave as a cohesive whole, which can be useful in tasks such as collaborativetransportation. The robustness of the algorithm relies on the fact that eachrobot employs only local measurements from a laser sensor which does not needto be off-line calibrated. Furthermore, robots do not need to exchange anyinformation with each other. Being free of sensor calibration and not requiringa communication channel helps the scaling of the overall system to a largenumber of robots. In addition, since the robots do not need any off-boardlocalization system, but require only relative positions with respect to theirneighbors, it can be aimed to have a full autonomous team that operates inenvironments where such localization systems are not available. Thecomputational cost of the algorithm is inexpensive and the resources from astandard microcontroller will suffice. This fact makes the usage of ourapproach appealing as a support for other more demanding algorithms, e.g.,processing images from onboard cameras. We validate the performance of thealgorithm with a team of four mobile robots equipped with low-cost commerciallyavailable laser scanners.

Multi-robot motion-formation distributed control with sensor self-calibration: experimental validation