This paper presents the stability classification of mobile robot leader-follower formation control with respect to the relative state error and the initial state. The formation stability is classified into six patterns and the pattern distribution is examined with respect to the relative state error. As a result, the closed-loop system was formation stable in the region that the absolute value of the relative angle error was small and the relative distance was negative. In addition, the formation stability was retained when the initial state was properly selected.
志村光春 et al. (Wed,) studied this question.