Cooperative Robot Operation, Formation Control, Null Space Techniques, Virtual Structure Strategies, Dynamic Control Systems
Abstract
The article discusses how to coordinate multiple robots by integrating null space techniques and the virtual structure paradigm. The main goal is to ensure the maintenance of formation shapes during missions. This strategy undergoes evaluation in an experimental environment incorporating terrestrial and aerial robots alongside an OptiTrack motion capture system. The findings demonstrate notable enhancements in cooperative missions and propose a novel control framework applicable to multi-robot systems.
