The formation control of multi-agent systems has garnered significant research attention in both theoretical and practical aspects over the past two decades. Despite this, the examination of how external environments impact swarm formation dynamics and the design of formation control algorithms for multi-agent systems in nonlinear external potentials have not been thoroughly explored. In this paper, we apply our theoretical formulation of the formation control algorithm to mobile robots operating in nonlinear external potentials. To validate the algorithm's effectiveness, we conducted experiments using real mobile robots. Furthermore, the results demonstrate the effectiveness of Dynamic Mode Decomposition in predicting the velocity of robots in unknown environments.

翻译：在过去二十年中，多智能体系统的编队控制在理论与实践两方面均获得了广泛的研究关注。尽管如此，关于外部环境如何影响群体编队动力学，以及针对非线性外部势场中多智能体系统设计编队控制算法的研究，尚未得到深入探索。本文我们将编队控制算法的理论框架应用于运行于非线性外部势场中的移动机器人。为验证算法的有效性，我们使用真实移动机器人进行了实验。此外，实验结果还证明了动态模式分解在预测未知环境中机器人速度方面的有效性。