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 …

The Zhanghe irrigation system (ZIS) is located in the Yangtze River Basin approximately 200 km west of Wuhan in Hubei Province. The reservoir was designed for multiple uses—irrigation, flood control, domestic water supply, industrial use, aquaculture, and hydropower. Over a period of more than 30 years …