Distributed Formation Control with Collision Avoidance and Mismatch Estimation: Algorithm and Experiments

This paper presents a distributed formation control algorithm with collision avoidance properties that can estimate and cancel mismatch or bias errors in the measurements of neighbouring agents. This is done without the need for interagent communication. Bringing together the aspects of collision avoidance and mismatch estimation means that this controller should be widely applicable in robotic swarms. The theoretical results are validated through experiments and are compared with those of similar controllers in the literature.