A reactive geometric-invariance approach for robot coordination

This work presents a reactive geometric invariance method for the coordination of multi-robot systems. Some of the constraints representing the coordination of the multi-robot system are defined in terms of robot sensors that are not affected by the robot kinematics error, e.g., due to miscalibrations or lack of repeatability, in order to obtain accurate enough measurements, other constraints are in joint coordinates. Then, the fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The effectiveness of the proposed approach is illustrated by 2D simulation results for two 3R planar robots.