A multi-layer control scheme for multi-robot formations with adaptive dynamic compensation

Alexandre Santos Brandao, Felipe Nascimento Martins, Vinicius Thiago Lecco Rampinelli, Mario Sarcinelli-Filho, Teodiano Freire Bastos-Filho, Ricardo Carelli

Research output: Chapter in Book/Report/Conference proceedingContribution to conference proceedingAcademicpeer-review


This paper presents a multi-layer scheme to control a formation of three mobile robots. Each layer works as an independent module, dealing with a specific part of the problem of formation control, thus giving to the system more flexibility. In order to reduce formation errors, the proposed architecture includes a layer which performs an adaptive dynamic compensation, using a robust updating law, which compensates for each robot dynamics. The controller is able to guide the robots to the desired formation, including the possibility of time-varying position and/or shape. Stability analysis is performed for the closed-loop system, and the result is that the formation errors are ultimately bounded. Finally, simulation results for a group of three unicycle-like mobile robots are presented, which show that system performance is improved when the adaptive dynamic compensation layer is included in the formation control scheme. © 2009 IEEE.
Original languageEnglish
Title of host publication2009 IEEE International Conference on Mechatronics
Publication statusPublished - 2009


  • robotics


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