Null space based behavior control applied to robot formation

This paper presents the null space based behavioral control method applied to the formation of a mobile robot team. This method has been used in redundant manipulators to obtain the joint parameters (joint space) based on Cartesian coordinates. New task functions are introduced to obtain a predefined robot formation. As in redundant manipulators, the inverse kinematics of a group of mobile robots admits infinite solutions. The redundancy is exploited to obtain additional maneuverability in terms of configuration and interaction with the workspace.