Note: Werner, Herbert and {Ahmadi Barogh}, Siavash

Abstract: This thesis describes the design of a formation control scheme for non-holonomic agents and its implementation for wheeled robots in a plane. Using a camera based system that detects the positions of all robots and static obstacles while the robots achieve a formation and track a defined path with collision avoidance. Based on experimental results improvements to the control scheme are developed and tested. An outlook is given at a possible implementation that replaces the camera based position detection system with laser distance sensors on each robot to yield a decentralized and scalable formation control.