Synchronization control for a swarm of unicycle robots: analysis of different controller topologies

What is it about?

Complicated automated tasks can be harder or impossible for a simple robot to do. Nevertheless, this task can be decomposed into several subtask and multiple robots can work cooperatively in order to complete the whole task. This work proposes a cooperative controller for a swarm of mobile robots with minimal communication between them.

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Why is it important?

The main achievement of this work is the creation of a control strategy that is simple in terms of computational cost and it can be extrapolated to a large number of mobile robots. The applications of our cooperative controller include automated highways or warehouses, sensor networks, distributed surveillance, etc.