FORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP

Abstract

In this paper the formation control of a multi-robots system is investigated. The proposed control law, based on Lie group theory, is applied to control the formation of a group of unicycle-type robots. The communication topology is supposed to be a rooted directed acyclic graph and fixed. Some numerical simulations using Matlab are made to validate our results.

Keywords

• formation control
• multi-robot system
• unicycle-type robot
• Lie group
• Lie algebra