Experiments for "Time-varying formation tracking for second order multi-agent systems: an experimental approach for wheeled robots"

In this paper, a time-varying formation tracking protocol for second order Multi-Agent 1
Systems (MASs) is presented. The time-varying formation considers translation, rotation and scaling 2
of the geometric pattern that defines the formation. The control law is simple yet effective, and is 3
composed of a trajectory tracking control and a consensus control that considers position and velocity 4
feedback of the connected agents in the MAS. The closed-loop system is asymptotically stable, and 5
this is proved using the Gershgoring’s disk theorem. The performance of the protocol is extensively 6
tested in experiments using a dynamic extension of the differential-drive robot model. The protocol 7
is tested for different communication topologies and also deals with switching topologies. The 8
proposed protocol presents good performance to both time-varying formation and topology changes. 9
Moreover, a comparison with an existing controller and with only trajectory tracking control is 10
provided, showing that the proposed protocol preserves in a better way the formation for all the 11
tested topologies.