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This paper presents a motion control algorithm for a multiple mobile autonomous agents using the concept of a rigid and persistent formation with a Leader-Follower structure. Initially, a triangular formation was started for three agents and subsequently Henneberg Sequence [Tolga, et al; 2005] is applied to extend for multi-agent system. A decentralized control for each agent considering the shortest...
This paper reports an autonomous cooperative navigation system for robot formations in realistic scenarios. The formation movement control is based on a virtual structure composed by spring-dampers elements, which allows the formation to comply with the environment shape. A different navigation strategy is applied to the leader of the formation and to the rest of robots of the team. The leader plans...
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