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Formation control of multi-robots using leader-follower approach at dynamic level

Zhuping Wang, Xulin Jin, Ying Mao, Qijun Chen

In this paper, formation control ofmultiple nonholonomicmobile robots is studied using the leader-follower approach at dynamic level. The controllers are proposed firstly at kinematic level, then the results are extended to design dynamic controller using uncertain dynamic model of the system. Simulation results prove the effectiveness of the proposed algorithm.