Realization of Lattice Formation in Nonlinear Two-dimensional Potential by Mobile Robots

Formation control in multi-agent system has earned significant research interests in both theorical aspect and applications over the past two decades. However, the study on how the external environment shapes swarm formation dynamics, and the design of formation control algorithm for multi-agent system in nonlinear external potential have not been rigorously investigated. In this paper, we present a formation control algorithm for mobile robots travelling in nonlinear external potential. Experiments are performed on real mobile robots to verify the algorithm, and the effectiveness of Dynamic Mode Decomposition in robot's velocity prediction in unknown environment is demonstrated.