Multirobot convoying using neuro-fuzzy control

In this paper real-time implementation of multirobot convoying behavior utilizing neuro-fuzzy control is presented. With only nine rules, the follower convoys the leader closely and smoothly by varying its speed and changing its direction. When the leader stops, the follower stops very close to the specified safe distance (within an inch). The follower backs up quickly when the leader moves backward toward it (herding behavior).