Publication

Abstract : Coordination and control are the main central essential requirements for the successful accomplishment of a task in a multi-robot system. Some of the coordinated missions are localization, exploration etc., and the control mission includes positioning, formation control between the robots. The formation control problem consists of designing control inputs for the robots and the localization maintains a predefined geometric shape in space even in the presence of external disturbances. The positioning is designed in such a way that the robots correct their position looking at the position of their neighbors. One of the techniques used is the leader–follower approach. This paper guarantees that the robot avoids the static and dynamic obstacles using onboard sensors and form a geometrical shape based on the requirement of the task.