Information theory in formation control: An error analysis to multi-robot formation

Shuo Wan, Jiaxun Lu, Pingyi Fan, Khaled Letaief

Research output: Contribution to journalArticle

1 Citation (Scopus)


Multi-robot formation control makes prerequisites for a team of robots to execute complex tasks cooperatively, which has been widely applied in both civilian and military scenarios. However, the limited precision of sensors and controllers may inevitably cause position errors in the finally achieved formation, which will affect the tasks undertaken. In this paper, the formation error is analyzed from the viewpoint of information theory. The desired position and the actually achieved position are viewed as two random variables. By calculating the mutual information between them, a lower bound of the formation error is derived. The results provide insights for the estimation of possible formation errors in the multi-robot system, which can assist designers to choose sensors and controllers with proper precision.

Original languageEnglish
Article number618
Issue number8
Publication statusPublished - 1 Aug 2018
Externally publishedYes



  • Bayes risk
  • Formation error
  • Lower bound
  • Mutual information

ASJC Scopus subject areas

  • Physics and Astronomy(all)

Cite this