This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies have investigated this area, and we identify several avenues for enhancing existing methods. This survey describes some models of robots and commonly considered control objectives, followed by an in-depth analysis of four types of algorithms that can be employed for passing-through control: leader-follower formation control, multi-robot trajectory planning, control-based methods, and virtual tube planning and control. Furthermore, we conduct a comparative analysis of these techniques and provide some subjective and general evaluations.

翻译：本综述全面回顾了与拥挤环境中多机器人系统通行控制相关的各类方法与算法。已有大量研究探索该领域，我们归纳出若干可改进现有方法的途径。本文首先介绍机器人模型及常见控制目标，随后深入分析四类可用于通行控制的算法：主从编队控制、多机器人轨迹规划、基于控制的方法以及虚拟管道规划与控制。此外，我们对这些技术进行对比分析，并提出主观且通用的评估意见。