N-groups formation of differential robots

Julián-Alejandro Hernández-Gallardo, César-Fernando Méndez-Barrios, Adrian-Josue Guel-Cortez, Emilio J. Gonzalez-Galvan

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

Abstract

Obtaining simple and reliable dynamic models is a relevant contribution to easing the design and application of up-to-date robotic system controllers. In this context, this work explores the trajectory tracking control of a formation of multiple mobile robots described using a proposed generalized geometrical model. The approach takes two-robot group formations to generate a large-scale system. The results give us stability over the groups and the fastest with no-overshoot closed-loop velocity response at each agent.
Original languageEnglish
Title of host publication2022 XXIV Robotics Mexican Congress (COMRob)
PublisherIEEE
Pages54-59
Number of pages6
ISBN (Electronic)9798350331493
ISBN (Print)979-8-3503-3150-9
DOIs
Publication statusE-pub ahead of print - 28 Nov 2022
EventCOMRob 2022 - Pachuca, Mexico
Duration: 9 Nov 202211 Nov 2022
https://www.uaeh.edu.mx/comrob2022/

Publication series

NameProceedings of the 24th Robotics Mexican Congress, COMRob 2022

Conference

ConferenceCOMRob 2022
Country/TerritoryMexico
CityPachuca
Period9/11/2211/11/22
Internet address

Keywords

  • Trajectory tracking
  • Reliability engineering
  • Control systems
  • Stability analysis
  • Large-scale systems
  • Mobile robots
  • Context modeling

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