Recently, multiple unmanned vehicles have attracted a great deal of attention as viable solutions to a wide variety of civilian and military applications. Among many topics in the field of multiple unmanned systems, formation control and coordination is of great importance. This paper presents a comprehensive literature review on the strategies and methodologies applied for formation control of multiple unmanned ground vehicles in both normal and faulty situations. First, the basic definitions of formation control and coordination are provided as well as their classification. Second, a comprehensive literature review of formation control strategies is introduced. Moreover, an overview on fault detection and diagnosis and fault-tolerant cooperative control of UGVs is presented. Finally, open problems, challenges, and future directions are highlighted.

最近，作为无数种民用和军用应用的可行解决方案，多种无人驾驶汽车引起了极大的关注。在多种无人系统领域中，编队的控制和协调非常重要。本文对在正常和故障情况下用于多种无人地面车辆编队控制的策略和方法进行了全面的文献综述。首先，提供了编队控制和协调的基本定义及其分类。其次，对地层控制策略进行了全面的文献综述。此外，本文概述了无人飞行器的故障检测，诊断和容错协同控制。最后，开放的问题，挑战，