Multiple Formations Control Using Distinct Virtual Structures

This paper addresses the problem of controlling two distinct formations of robots interacting with one another. In order to do that, two different approaches for a line structure are defined and a controller based on virtual structures is used, as well as a low level controller in order to compensate for the dynamics of each robot. Tying both controllers is a multilayer structure responsible for the overall control. Simulations and experiments show the controllers working with different levels of complexity and help validate the proposed method.