Distributed Accurate Formation Control Under Uncertainty

Formation control is a canonical task in the multi-robot teamwork field, where a group of robots is required to maintain a specific geometric pattern, while moving from a start point to a destination. When one assumes imperfection of the sensors of the robots, the goal becomes minimizing the group's deviation from the required pattern (maximizing the formation accuracy). Previous work has considered optimality in an uncertain environment only in centralized setting (or using some form of communication). This work examines the problem of optimal formation accuracy in a distributed setting, while accounting for sensory uncertainty and no communication.