中文摘要：

这份报纸在一个分布式的框架讨论机器人形成。最重要的贡献是进机器人形成系统的坚韧性的加入。当机器人在差的环境执行任务时，在他们的模型的参数在名字的值附近波动，它可以破坏形成系统的稳定性。由作为一个互连的系统为机器人的组建模，我们试图开发一套柔韧的分布式的控制器以便全面系统对外部骚乱以及参数无常柔韧。基于图刚硬理论，我们也考虑在即时应用程序起一个重要作用的形成的旋转。模拟和即时实验被执行验证建议框架的有效性。

英文摘要：

This paper discusses robot formations in a distributed framework. The most important contribution is the incorporation of robustness into robot formation systems. When robots carry out tasks in a poor environment, the parameters in their models fluctuate around the nominal values, which may destroy the stability of the formation system. By modeling the group of robots as an interconnected system, we aim to develop a set of robust distributed controllers such that the overall system is robust to external disturbance as well as parameter uncertainty. Based on the graph rigidity theory, we also consider the rotation of a formation that plays an important role in real-time applications. Both simulations and real-time experiments are carried out to validate the effectiveness of the proposed framework.