MIMC-VADOC Model for Autonomous Multi-robot Formation Control Applied to Differential Robots

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dc.contributor.authorKevin Marlon Soza Mamani
dc.contributor.authorJhon Ordoñez
dc.coverage.spatialBolivia
dc.date.accessioned2026-03-22T14:25:50Z
dc.date.available2026-03-22T14:25:50Z
dc.date.issued2022
dc.descriptionCitaciones: 3
dc.description.abstractThe present work highlights the development of a decentralized formation control model focused on mobile differential type robots. It refers its study mainly to the control design, subsequent simulation and implementation of control systems. The control theory starts from two different robot motion models. The first is related to trajectory and position control, meanwhile the second includes multi-robot control systems, especially associated to robotic swarms and potential fields. Subsequently, a list of formation control requirements is proposed. Based on this, the potential field-based multi-robot formation control model is developed. After simulations, the global model feedback and communication systems are implemented on real differential mobile robots. Finally, the complete control system is tested and compared with other models within a controlled indoor environment.
dc.identifier.doi10.1109/icara55094.2022.9738567
dc.identifier.urihttps://doi.org/10.1109/icara55094.2022.9738567
dc.identifier.urihttps://andeanlibrary.org/handle/123456789/46465
dc.language.isoen
dc.sourceCentro de Información y Desarrollo de la Mujer
dc.subjectMobile robot
dc.subjectRobot
dc.subjectControl engineering
dc.subjectRobot control
dc.subjectComputer science
dc.subjectTrajectory
dc.subjectDifferential (mechanical device)
dc.subjectControl (management)
dc.subjectControl system
dc.subjectRobot kinematics
dc.titleMIMC-VADOC Model for Autonomous Multi-robot Formation Control Applied to Differential Robots
dc.typearticle

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