Formation-Aware Dynamic Movement Primitives: Enabling Adaptive and Cooperative Leader-Follower-Based Multi-Robot Navigation For Shared Teleoperated Control
A.J. Becoy (TU Delft - Mechanical Engineering)
L. Peternel – Mentor (TU Delft - Mechanical Engineering)
R.T. Rajan – Mentor (TU Delft - Electrical Engineering, Mathematics and Computer Science)
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Abstract
Coordinated multi-robot networks are essential for planetary exploration. However, achieving fully autonomous operation in extreme extraterrestrial environments remains challenging due to stringent safety, stability, and reliability requirements. This paper presents a semi-autonomous supervisory teleoperation framework that combines high-level human oversight with decentralized multi-agent coordination. A remote operator specifies mission objectives and intermediate via-regions, while the robotic network autonomously performs real-time, collision-free navigation. To address GNSS-denied conditions, Ultra-Wideband (UWB) technology is employed for relative localization, requiring structured formation maintenance for hardware calibration. The proposed control architecture integrates Dynamic Movement Primitives (DMPs) for trajectory tracking with Affine Formation Control (AFC) for formation preservation, supplemented by adaptive collision avoidance mechanisms, and adaptive temporal scaling. Experimental validation demonstrates sub-meter tracking and formation accuracy, while extensive Monte Carlo simulations confirm robust destination reachability, formation maintenance, and network connectivity in cluttered environments.