Abstract
This paper presents an experimental analysis of a recently proposed decentralized control strategy, for collective circular motion of a team of non-holonomic vehicles. Theoretical results ensuring global asymptotic stability in the single-vehicle case and local asymptotic stability in the multi-vehicle scenario, are validated on an experimental setup including the mobile robots Pioneer 3AT and Nomad XR4000. In addition, the role of the control law parameters is discussed and a design procedure is proposed.
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