## 1 Introduction
### Related Research  
Generally, multi-vehicle formation control or containment control design can be categorized based on the following three structures: virtual-based design (see [10; 11]), leader-following (see [12; 13]), and behavior-based [14; 15]. Multi-mobile robots formation control design has been proposed in [16] where the model predictive control (MPC) for the robot's trajectory tracking is implemented together with the adaptive terminal sliding mode control (ATSMC) for tracking the robot's velocity. The Pythagorean theorem has been applied for cooperation between mobile robots. The proposed controller performance has been evaluated in the presence of external disturbances that may influence the mobile robot model. Relevant to this work, the formation control of multiple ground vehicle systems has been addressed in [17] and in more detail in [18]. In these studies, the authors build on the literature results to address the formation maintenance and control of several robots where the leader or virtual leader is always at the center of the formation. The control design that is used locally is a feedback linearization, and the team navigation is stabilized based on a potential field force. Multi-mecanum-wheeled mobile robots' (MWMRs') leader-follower formation control design has also been presented in [19], where the fuzzy sliding mode controller for trajectory tracking has been implemented considering the parameters' uncertainties. The graph theorem has been applied for consensus between the heterogeneous systems of MWMRs. The consensus control design of a heterogeneous system of multi unmanned ground vehicles (UGVs) and multi unmanned aerial vehicles (UAVs) has been reported in [20], where the particle swarm optimization (PSO) approach was implemented for consensus between UGVs and UAVs. Furthermore, the issue of the path planning problem of multi UGVs and UAVs has been considered, while the consensus of the UGVs and the UAVs system has been investigated considering some assumptions and constraints. The leader-follower control design of multi-robot manipulator heterogeneous system has been proposed and reported in [21], where the leader-follower approach of multi-robot manipulator heterogeneous system has been studied in the presence of the parameters' uncertainties, while the leaders' information has been estimated by implementing the cooperative estimator technique. In addition, a graph theory approach has been utilized for consensus between the multi-robot manipulator's heterogeneous system. The framework to integrate multi-UAV applications has been developed and reported in [22]; the new proposed framework GrUavChannel is basically a combination of the ns-3, Gazebo, and ArduPilot network simulators. The GrUavChannel middleware can guarantee the integration and communication between multiple interconnected computers with different simulator tools such as ns-3, Gazebo, and ArduPilot. The framework for the integration between multi-ground robots in real-time applications has been introduced and proposed in [23], where a Domain Specific Language (DSL) and constraints analysis of the software applications' safety is used to provide a path between the design of architectures. The authors applied the MAUVE DSL deployment to define the model of execution; however, it is necessary to define some information about Worst-Case Execution Time (WCET) at the onset so that the Extreme Value Theory (EVT) is used to estimate the WCET execution time. The Orocos middleware is used to integrate and exchange information between the multi-ground robots. The framework of multipe AUVs based on Mission-Oriented Operating Suite-Interval Programming (MOOSIvP) middleware has been developed in [24]. The publish-subscribe framework has been applied to exchange information between the AUVs. The authors identified the object as a sonar image for each AUV by utilizing the Sidescan Sonar Sensor (SSS). A classical PID controller has been implemented on each AUV to track the elevator, rudder, and thrust references.