multi-robot system is formed when a group of robots interact with the environment as
a single system. This system can also be in formation in order to accomplish tasks rather
difficult or impossible to achieve with a single robot.
This work presents results for a doctoral thesis research aiming the formation control
of a mobile robot group in the active target tracking problem. All robots exchange information
about their position (localization) in the world frame, and the target position
and velocity forming a distributed system. Therefore, the main objective of this work
is to search and track a target minimizing the total amount of uncertainty in the target's
observation, avoiding mates and obstacles, and obeying the characteristics imposed to the
formation.
A nonlinear model predictive controller was proposed in order to deal with the active
target tracking problem through the formation of a multi-robot system.