Multi-Robot Leader Grouping Consistent Formation Control Method Research with Low Convergence Time Based on Nonholonomic Constraints
Round 1
Reviewer 1 Report
This paper studies the formation problem of non-holonomic constrained multi-robot tracking the leader's movement while maintaining the ideal formation. The paper is basically well-written. The authors formulated and explained their method intensively. The reviewer, however, cannot help feeling like something not quite right. The reviewer is not native English writer; therefore, he cannot point out which is wrong. But the reviewer strongly recommends the authors that they have some native English writer review this paper. Especially, the abstract is hard to comprehend. An abstract should clearly state what the authors achieved in terse manner.
Author Response
Point 1: The reviewer strongly recommends the authors that they have some native English writer review this paper.
Response 1: I'm sorry to cause your misunderstanding because my words are inappropriate. This article has been carefully reviewed in the English language by native English-speaking writer. We correct the errors in this article.
Point 2: Especially, the abstract is hard to comprehend. An abstract should clearly state what the authors achieved in terse manner.
Response 2: I'm very sorry for the low-level mistakes we made in the manuscript. The typos in the manuscript have been revised.
‘Compared with other leader formation control methods, the convergence time of PFC is relatively reduced by 25%.’ is modified to ‘Through the comparison of the two leader formation control methods, the convergence time of the algorithm in this article can be 25% less than that of PFC.’
Reviewer 2 Report
The aim of the present paper is to bring valuable contributions regarding the solving of the formation problem of nonholonomic constrained multi-robot tracking the leader's movement while maintaining the ideal formation. It has a good structure, it is rigorously documented, with references to the latest sources of information and therefore succeeds in achieving its goal.
The mathematical model sustaining the new approach is impressive since it brings new information in the domain of leader-follower formation control method for multi-robots. It is validated by virtual simulations in Matlab environment which makes it even more valuable.
The authors have largely succeeded in helping to illustrate the effectiveness and feasibility of the formation control algorithm, but it would be recommended for this method to be backed up also experimentally and not only to be validated through simulations. It would be interesting for future studies to include along external interference also aspects regarding obstacle avoidance.
The paper can be published as it is.
Author Response
Point 1: The authors have largely succeeded in helping to illustrate the effectiveness and feasibility of the formation control algorithm, but it would be recommended for this method to be backed up also experimentally and not only to be validated through simulations. It would be interesting for future studies to include along external interference also aspects regarding obstacle avoidance.
Response 1: Thanks for your suggestion. This paper will be supported by experiments in future plans, while incorporating aspects of external disturbance and obstacle avoidance.
Author Response File: 
Author Response.docx
Reviewer 3 Report
An author Cruz is mentioned in the introduction but not cited.
The performance of the robot acquisition spacecraft was analyzed (go deeper +).
Most of the studies mentioned focus on algorithm implementation and sensor fusion (what kind of algorithms and what sensor fusion techniques).
Leader-follower training algorithm (*) (is it an algorithm or a method? sometimes it is called an algorithm and sometimes it is called a method).
There is a lack of mention of work that has been done and fits what you present, for example in topologies and control protocols.
What experimental simulation tool have you used, as I understand matlab is used, but some library is only mentioned in the abstract and conclusions.
Author Response
Point 1: An author Cruz is mentioned in the introduction but not cited.
Response 1: I'm sorry to cause your misunderstanding because of our improper quotation.
‘The concept of leader follower was first proposed by Cruz and successfully applied to the formation control of mobile robots by Wang et al [12, 13].’ is modified to ‘The concept of leader follower was first proposed and successfully applied to the formation control of mobile robots [12, 13]’.
Point 2: The performance of the robot acquisition spacecraft was analyzed (go deeper +).
Response 2: I'm very sorry for the low-level mistakes we made in the manuscript. The typos in the manuscript have been revised.
‘Considering the post-capture unstable combined system, a collision avoidance and compliant composite error active disturbance rejection control is proposed for the stabilization control. Numerical simulation verifies the effectiveness of the proposed collision avoidance and compliant control method.’ is added to after line 128.
Point 3: Most of the studies mentioned focus on algorithm implementation and sensor fusion (what kind of algorithms and what sensor fusion techniques).
Response 3: I'm very sorry for the low-level mistakes we made in the manuscript. The typos in the manuscript have been revised.
‘Most of the above studies focus on the algorithm implementation and sensor fusion.’ is modified to ‘Most of the above studies focus on the leader-follower method implementation and external distributed sensor fusion.’
Point 4: Leader-follower training algorithm (*) (is it an algorithm or a method? sometimes it is called an algorithm and sometimes it is called a method).
Response 4: I'm very sorry for the low-level mistakes we made in the manuscript. The typos in the manuscript have been revised.
Leader-follower training algorithm is a method, not an algorithm. We have uniformly reworded the statements in this article as 'methods'.
Point 5: There is a lack of mention of work that has been done and fits what you present, for example in topologies and control protocols.
Response 5: I'm very sorry for the low-level mistakes we made in the manuscript. The typos in the manuscript have been revised.
‘Compared with other leader formation control methods, the convergence time of PFC is relatively reduced by 25%. The effectiveness and feasibility of the formation control law are verifying under the leader-follower method. The proposed control method lays a foundation for reducing the convergence time to improve the multi-robot cooperative motion under the nonholonomic constraints.’ is modified to ‘Through the comparison of the two leader formation control methods, the convergence time of the algorithm in this article can be 25% less than that of PFC. The effectiveness and feasibility of the formation control law are verifying under the leader-follower method. The proposed control method lays a foundation for reducing the convergence time to improve the multi-robot cooperative motion under the nonholonomic constraints.’ in the abstract.
Point 6: What experimental simulation tool have you used, as I understand matlab is used, but some library is only mentioned in the abstract and conclusions.
Response 6: I'm sorry to cause your misunderstanding because my words are inappropriate.
‘4. Simulation experiment’ is modified to ‘4. Simulation experiment by MATLAB’
Author Response File: Author Response.docx
