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Switching control and modeling of mobile robots formation

Switching control and modeling of mobile robots formation,10.1109/LARC.2011.6086830,F. Bravo,D. Patino,K. Melo,C. Parra

Switching control and modeling of mobile robots formation  
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This paper presents the design of a decentralized cooperative control law, based on a leader-follower approach. This control law generates formation trajectories that should follow each mobile robot to establish and maintain a specific geometry formation while the robots formation moves along a predefined trajectory. By taking advantage of the continuous and discrete dynamics of the leader-following approach, we model the formation control as a switching control. This allows any robot to be part of the formation as leader or follower any time. The control law is validated through simulation.
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