Formation control in multi-agent system has earned significant research interests in both theorical aspect and applications over the past two decades. However, the study on how the external environment shapes swarm formation dynamics, and the design of formation control algorithm for multi-agent system in nonlinear external potential have not been rigorously investigated. In this paper, we present a formation control algorithm for mobile robots travelling in nonlinear external potential. Experiments are performed on real mobile robots to verify the algorithm, and the effectiveness of Dynamic Mode Decomposition in robot's velocity prediction in unknown environment is demonstrated.

翻译：多试剂系统中的形成控制在过去二十年中在理论方面和应用方面引起了重大研究兴趣。然而,关于外部环境如何形成群状形成动态的研究以及非线性外部潜力多试剂系统的形成控制算法的设计没有得到严格调查。在本文中,我们为非线性外部潜力流动的机器人提供了一种形成控制算法。对真实的移动机器人进行了实验,以核实算法,并展示了机器人在未知环境中的速度预测中动态模式分解的效果。