Coordination of a group of mobile robots based on discrete models

In this paper, the problem of coordination control in the formation of a finite group of mobile robots based on its discrete-time model is addressed. The objective is to use their exact discrete “kinematic” model to obtain a control law, which must assure that each robot hold its position in a particular formation while they follow a desired path. The stability of the formation of the group of robots in closed loop with the control law is studied using Lyapunov techniques and the proposed scheme is evaluated through experimentation.