Group control of autonomous robots motion in uncertain environment via unstable modes

The paper is devoted to the methods and algorithms of group control, providing a consistent movement of a moving objects group in a partially uncertain three-dimensional environment with obstacles. The uncertainty of the environment is a priori unknown moving obstacles. Mobile robots of the group should create a formation in a given rectangular area in the plane. The robots formation must move in the given direction. The problem solution is carried out by using algorithms based on unstable modes. The unstable modes allow to transform obstacles into repellers. The proposed algorithms can be implemented decentralized. Two algorithms options for group control are analyzed in the paper. Also a numerical simulation of a hexacopters group in an uncertain environment with obstacles is performed. The developed algorithms are used in the control system of mobile robots in their group locomotion in an uncertain 3-d environment. A group of mobile robots should be self-organized into a structure that does not require a preliminary assignment of the place of each robot. The group of robots can adjust the formation at occurrence of obstacles.