Cyber-Physical Multi-Robot Formation: Virtual Agents Approach and Low-Cost Experiments
Universidad Iberoamericana, México, Huber Giron-Nieto, Oliver Ochoa-García, Universidad Iberoamericana, México, Eduardo Gamaliel Hernández-Martínez, Universidad Iberoamericana, México, Mario Ramírez‐Neria, CINVESTAV-IPN, México, Guillermo Fernández‐Anaya, Universidad Iberoamericana, México, Enrique D. Ferreira, Universidad Católica del Uruguay, Uruguay, J.J. Flores-Godoy, Universidad Católica del Uruguay, Uruguay · Memorias del Congreso Nacional de Control Automático · 2023
A cyber-physical formation includes all the strategies to coordinate mobile robots moving in different physical workspaces sharing information through internet and the cloud. This work addresses a formation scheme of robots moving in two different workspaces. The control strategy is based on virtual agents used like ”avatars” which must converge to the position of the robots in the opposite workspace. The control approach is designed for robots modeled as single integrators and extended to the case of unicycle-type robots. Results of numerical simulations and real experiments are shown using a low-cost cyber-physical micro-robot platform based on a camera as position and orientation sensor.