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Formation in networks of mobile robots

14:00 - 14:30
Alberto Lopez-Parra, Cesar Cruz-Hernandez, Adrian Arellano-Delgado and Rosa Martha Lopez-Gutierrez / Scientific Research and Advanced Studies Center of Ensenad and Universidad Autonoma de Baja California  

 

Abstract: This work addresses the formation problem of networks of mobile robots with evasion of collisions based on complex systems theory. In particular, formation of five differential mobile robots connected in star topology is presented, using the linearized and controllable model obtained by dynamic feedback of the kinematic model of a differential mobile robot. Different tracking trajectories are designed for the master mobile robot, achieving the tracking in the formation of a group of slave mobile robots avoiding collisions. Numerical and experimental results are provided.


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