Ergodic Flocking Designing efficient control strategies is well studied. Due to recent technological advancements and applications to the field of robotics, exploring ways to design optimal control for multi robot systems is gaining interest. In this respect, ergodicity has been successfully applied as an effective control technique for tracking and coverage. Generating flocking behaviour is a problem with many interesting special cases that include both tracking and coverage. The main contribution of this paper is the application of ergodicity to emulate flocking behaviour. Our approach is appealing, as control and communication are all assumed to be local, and so this behaviour is selforganized. Simulation results show that the proposed approach is effective.

Nonlinear control of a group of tracked robots The paper presents a solution of the problem of nonlinear control law design for a group of mobile robots. The paper also provides a survey of modern methods and approaches to group control, discusses the use of methods for optimizing collective behavior, artificial potential fields, heuristic methods based on the recognition of the situation and the development of appropriate actions and methods based on the use of fuzzy logic. It is shown that when applying these methods, the problem of analyzing the stability of the obtained closedloop control system is complex. From the survey of modern methods, the basic conditions imposed on the synthesized law of group control of robots are highlighted. These conditions are adaptability to the external environment and asymptotically stable movement of mobile robots to a given point in space with a given type of order. Therefore, the paper presents a method which is based on new nonlinear approaches to the control of mobile robotsxe2x80x99 group, in particular, synergetic control theory. The main aspects of the proposed method are providing a stable moving of a group of tracked robots to the desire position, therefor in the result it makes a specified formation.