Coordinated path-following for multi-robot systems using the cluster space framework approach

This paper proposes a solution to the problem of path-following by a formation of mobile robots (three robots are considered, forming a triangle on the ground). The proposed solution allows planning the motion of the desired formation without needing specifying how each robot should move. The proposed strategy is based on the cluster space approach, and embeds a reactive method to give the formation the capability of avoiding obstacles during the path-following. Theoretical analysis and experimental results are presented, which demonstrate the effectiveness of the proposed control system to guide the multi-robot formation to accomplish a path-following task.