Abstract
A novel approach for formation control of differential-drive mobile robots is presented in this paper. The control design is done in the framework of functionally related systems. Functionally related systems are the systems that are ‘virtually’ interconnected. The term ‘virtually’ denotes the situation in which the states or outputs of otherwise separated systems are functionally related to each other. If a formation of mobile robots is analyzed, it can be considered as a group of functionally related systems. Therefore, formation control of the robots can be synthesized in the mentioned framework.
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