N-groups formation of differential robots

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

doi:10.1109/COMRob57154.2022.9962309

N-groups formation of differential robots

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

Research Centre for Fluid and Complex Systems

Universidad Autónoma de San Luis Potosí

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-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 language	English
Title of host publication	2022 XXIV Robotics Mexican Congress (COMRob)
Publisher	IEEE
Pages	54-59
Number of pages	6
ISBN (Electronic)	9798350331493
ISBN (Print)	979-8-3503-3150-9
DOIs	https://doi.org/10.1109/COMRob57154.2022.9962309
Publication status	E-pub ahead of print - 28 Nov 2022
Event	COMRob 2022 - Pachuca, Mexico Duration: 9 Nov 2022 → 11 Nov 2022 https://www.uaeh.edu.mx/comrob2022/

Publication series

Name	Proceedings of the 24th Robotics Mexican Congress, COMRob 2022

Conference

Conference	COMRob 2022
Country/Territory	Mexico
City	Pachuca
Period	9/11/22 → 11/11/22
Internet address	https://www.uaeh.edu.mx/comrob2022/

Keywords

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

Access to Document

10.1109/COMRob57154.2022.9962309

Cite this

Hernández-Gallardo, J.-A., Méndez-Barrios, C.-F., Guel-Cortez, A.-J., & Gonzalez-Galvan, E. J. (2022). N-groups formation of differential robots. In 2022 XXIV Robotics Mexican Congress (COMRob) (pp. 54-59). Article 9962309 (Proceedings of the 24th Robotics Mexican Congress, COMRob 2022). IEEE. Advance online publication. https://doi.org/10.1109/COMRob57154.2022.9962309

N-groups formation of differential robots. / Hernández-Gallardo, Julián-Alejandro; Méndez-Barrios, César-Fernando; Guel-Cortez, Adrian-Josue et al.
2022 XXIV Robotics Mexican Congress (COMRob). IEEE, 2022. p. 54-59 9962309 (Proceedings of the 24th Robotics Mexican Congress, COMRob 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

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N-groups formation of differential robots

Abstract

Publication series

Conference

Keywords

Access to Document

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