Model-Based Nonlinear Cluster Space Control of Mobile Robot Formations

Abstract

We select as our state variables a set of position variables (and their derivatives) that capture the cluster's pose and geometry. For the general case of m-DOF robots, where the pose variables of {C} with respect to {G} are (x c , y c , z c , c , c , c ) and where the pose variables 54 Multi-Robot Systems, Trends and Development www.intechopen.com