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Synchronization Control for Differential Mobile Robots into a Swarm Formation

This work presents the union of two synchronization approaches, the first one is at Cartesian level and the second one at wheel level, in order to keep a desired formation with a swarm of differential mobile robots. The first part of the synchronization scheme involves the entire group of mobile robots, its aim is maintaining a desired spatial formation along the time. The second part is applied individually to control the orientation angle of each robot by the torque applied on each wheel, thus every robot keeps its desired trajectory. The design of the control scheme on two levels is descentralized and it is based in the coupling parameters between one robot and its nearest neighbors. The experimental plataform are four iRobot Create that are controlled at speed level.