@inproceedings{400b4f75871e4b62a5059a1f48a2cca2,
title = "Multi-Robot Formation Control Using a Double Integrator Consensus Scheme: Experimental Validation",
abstract = "This study presents the experimental validation of a distributed formation control strategy for mobile robots, based on a double integrator consensus algorithm. The proposed control scheme enables a group of three TurtleBot3 Burger robots to maintain a predefined circular formation by tracking virtual leaders defined through geometric coordination laws. The controller computes desired acceleration references for each follower agent using a Laplacian matrix that captures the inter-agent communication topology. These acceleration commands are then mapped into linear and angular velocities through inverse kinematics to actuate the mobile platforms. Experimental results demonstrate the capability of the proposed strategy to correct initial formation errors, ensure inter-agent stability, and suppress oscillatory behaviors along the trajectory.",
keywords = "consensus algorithm, distributed control, inverse kinematic, mobile robot, multi-robot, robot formation",
author = "Danilo Casta{\~n}eda and Andaluz, \{Gabriela M.\} and Paulo Leica and Oscar Camacho",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 9th Ecuador Technical Chapters Meeting, ETCM 2025 ; Conference date: 21-10-2025 Through 24-10-2025",
year = "2025",
doi = "10.1109/ETCM67548.2025.11304295",
language = "Ingl{\'e}s",
series = "ETCM 2025 - 9th Ecuador Technical Chapters Meeting",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "ETCM 2025 - 9th Ecuador Technical Chapters Meeting",
}