Heterogeneous leader-follower formation based on kinematic models

This paper proposes a control structure for a heterogeneous leader-follower formation involving an unmanned ground vehicle (UGV) - the leader, and an unmanned aerial vehicle (UAV) - the follower, based on their kinematic models. The control architecture is a centralized one, in which it is possible to get the robots sensory data and to synthesize and deliver the control signals necessary to establish the formation. The experimental platform, the mathematical models of the robots and other structures needed to carry out the cooperative navigation are detailed. The closed-loop system stability is demonstrated and the effectiveness of the proposed methodology is validated through experimental results.