Experiments of bilateral teleoperation of nonholonomic mobile robots in formation, through constant delay communications

In our previous work [14], we applied partial feedback linearization to the unicycle model to stabilize part of the state at a desired position on the plane and extend it to design formation control for teleoperation. Further, using output synchronization results we derive a Single Master Multiple Slave bilateral teleoperation system robust to constant unknown, possible different time delays between master and formation and among mobile robots and formation. Here, we show hardware in the loop simulation and experimental results to validate the theoretical findings.