This article describes a control proposal for a formation objective of a robot network in collaborative work with static diffusive coupling using tools derived from graph theory. This proposal is guaranteed by the stability theory of Lyapunov and it is validated with results in simulation and experimentation. As an important part of this work, it is detailed like a tutorial the procedure for the formulation of the robot network addressed and also it is proposed a formation control law with procedure for non-collision between the robots that form the network using the same network topology.
Abstract This article describes a control proposal for a formation objective of a robot network in collaborative work with static diffusive coupling using tools derived from graph [...]
Control law for a robot network formation using static diffusive coupling 
