In the last few years

In the last few years, automatic control has been incorporated into all civil and military
vehicles: on roads, on railways, in air and space and their subsequent infrastructure.
This saturation indicates the image for developing more complicated and effective control
systems in the interaction between vehicles with their surroundings. Then, there
have seen active research in the field of control and coordination for multiple representative
systems in recent years.
The formation control becomes an interesting research topic in many countries
nowadays, and being an important issue in coordinated control for a group of unmanned
autonomous vehicles/ multiple robots. And that upgrading can be utilized as various
forms such as security patrols, exploration, surveillance, search and rescue in hazardous
atmosphere, mapping of unknown or partially known environments, distributed manipulation,
and transportation of large objects