Vertex-Weighted Consensus-Based Formation Control with Area Constraints and Collision Avoidance.

In this paper, a consensus-based formation control strategy is presented, subject to area constraints and collision avoidance. To achieve a desired formation pattern, a control law is proposed that incorporates a vertex-tension function along with signed area constraints. The vertex-tension function provides the capabilities of collision avoidance among agents. Moreover, signed area constraints avoid local minimum stagnation and mitigate ambiguities within the formation shape. Additionally, the proposed approach can be implemented considering a group of differential-drive mobile robots in both centralized and decentralized settings. Simulation and real-world experiments are performed to validate the effectiveness of the proposed approach, where the experimental setup includes a multi-robot system composed of Turtlebot3® Waffle Pi robots. [ABSTRACT FROM AUTHOR]