A multilayer scheme is here proposed to implement coordinated control of a group of mobile robots. Specifically, a trajectory tracking controller is proposed to coordinately guide a platoon of robots, with an obstacle deviation subsystem based on virtual forces and mechanical impedance implemented in …

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 …