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Formation control of multiple wheeled mobile robots via leader-follower approach

This paper investigates the formation control of multiple wheeled mobile robots with differential drive. Based on the kinematics models of the leader-follower system in Cartesian coordinates, four control laws are derived by the straightforward input-output linearization method, and asymptotical stable for the formation control system is achieved by the proposed control laws. Simulation studies are included to demonstrate the effectiveness of the proposed method.