N-groups formation of differential robots

Obtaining simple and reliable dynamic models is a relevant contribution to easing the design and application of up-to-date robotic system controllers. In this context, this work explores the trajectory tracking control of a formation of multiple mobile robots described using a proposed generalized geometrical model. The approach takes two-robot group formations to generate a large-scale system. The results give us stability over the groups and the fastest with no-overshoot closed-loop velocity response at each agent.