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Discrete Dynamics in Nature and Society
Volume 2013, Article ID 746713, 8 pages
Research Article

Decentralized Discrete-Time Formation Control for Multirobot Systems

Universidad Iberoamericana, Prol. Paseo de la Reforma 880, Lomas de Santa Fe, 01219 México, DF, Mexico

Received 26 October 2012; Revised 5 January 2013; Accepted 9 January 2013

Academic Editor: Gualberto Solís-Perales

Copyright © 2013 E. G. Hernandez-Martinez et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Inspired from the collective behavior of biological entities for the group motion coordination, this paper analyzes the formation control of mobile robots in discrete time where each robot can sense only the position of certain team members and the group behavior is achieved through the local interactions of robots. The main contribution is an original formal proof about the global convergence to the formation pattern represented by an arbitrary Formation Graph using attractive potential functions. The analysis is addressed for the case of omnidirectional robots with numerical simulations.