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Formation control in mobile actuator/sensor networks

In this paper, the application of wheeled mobile robot (WMR) formation control in diffusion process characterization and control is discussed. We present a review over the current approaches on mobile robot formation control. A new consideration is presented on formation control within the framework of networked control system with wireless communication. The potential benefits of robot formation in distributed diffusion process measurement and control are discussed. In this paper, we present a new nonlinear control law for a general formation that can be useful in diffusion process boundary measurement. Then, we introduce our on-going project called Mobile Actuator and Sensor Network (MAS-net) on the diffusion process characterization and control. Experiment results are presented to illustrate how pattern formation can be achieved in MAS-net.