Model Reduction and Control Design of a Multi-agent Line Formation of Mobile Robots

A.-J. Guel-Cortez, Eun-jin Kim

Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

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In this work, a model reduction of a line robotic formation driven by simple PD-controllers is presented. The proposed mathematical model describes the control interactions between the agents which permits us to easily design a decentralised control strategy. To select the PD-controller gains for each agent, we employ a population-based algorithm that takes into consideration the formation stability analysis. Finally, we discuss the future work and the manner the proposed methodology can be used in more complex robotic scenarios.
Original languageEnglish
Title of host publicationRecent Trends in Sustainable Engineering
EditorsKaren Lizbeth Flores Rodríguez, Raymundo Ramos Alvarado, Masoud Barati, Veronica Segovia Tagle, Roberto Sostrand Velázquez González
PublisherSpringer, Cham
Number of pages11
ISBN (Electronic)978-3-030-82064-0
ISBN (Print)978-3-030-82063-3
Publication statusE-pub ahead of print - 4 Nov 2021
EventInternational Conference on Applied Science and Advanced Technology: ICASAT 2021 - CICATA Queretaro, Queretaro, Mexico
Duration: 2 Jun 20213 Jun 2021

Publication series

NameLecture Notes in Networks and Systems
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389


ConferenceInternational Conference on Applied Science and Advanced Technology
Abbreviated titleiCASAT 2021
Internet address


  • Multi-agent systems
  • Line formation
  • Evolutionary algorithms
  • Control design


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