Decentralized control of mobile robots in coordination

Abstract

We proposed a decentralized control algorithm of multiple robots handling a single object in coordination. The motion command of the object is given to one of the robots, referred to as a leader, and the rest referred to as followers estimate the motion of the leader by themselves through the motion of the object and handle the object based on the estimated reference. In this paper, the proposed control algorithm is experimentally applied to three omnidirectional mobile robots with three degrees of freedom of motion, and the results illustrate the validity of the proposed control algorithm.