Abstract
One of the formation schemes in multirobot systems is named as the leader–follower scheme. Dynamic equations based on the scheme are formulated for multirobot systems with uncertainties by Defoort <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">et al.</i> ( <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">IEEE Trans. Ind. Electron.</i> vol. 55, no. 11, pp. 3944–3953, Nov. 2008). This paper focuses on the equations, clarifies their drawbacks, and revisits the modeling of the leader–follower formation scheme for multirobot systems with uncertainties.
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