Formation tracking experiments for heterogeneous mobile robots

This paper presents a formation tracking strategy for a set of single or double integrator agents with an arbitrary undirected communication topology. The approach uses the leader-followers scheme and a distance-based potential function. The approach is extended to the case of nonholonomic omnidirectional aerial and terrestrial robots. To show the performance of the control strategy, a real-time experiment is presented using a virtual quadcopter, three omnidirectional wheeled-mobile robots and a motion capture system.