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Related Experiment Video

Updated: Jun 10, 2026

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
07:40

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

Flocking of multiple mobile robots based on backstepping.

Wenjie Dong1

  • 1Department of Electrical Engineering, University of Texas-Pan American, Edinburg, TX 78539, USA. dongw@utpa.edu

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
|August 17, 2010
PubMed
Summary
This summary is machine-generated.

This study presents distributed controllers for nonholonomic wheeled mobile robots to achieve flocking behavior. The controllers ensure robots form a desired pattern, even with communication delays, demonstrating effective coordinated control.

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Last Updated: Jun 10, 2026

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot
07:40

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

Published on: June 10, 2020

Area of Science:

  • Robotics
  • Control Theory
  • Multi-agent Systems

Background:

  • Coordinated control of multiple mobile robots is crucial for complex tasks.
  • Nonholonomic constraints in wheeled robots present unique control challenges.
  • Distributed control architectures are essential for scalability and robustness.

Purpose of the Study:

  • To develop distributed controllers for flocking behavior in nonholonomic wheeled mobile robots.
  • To analyze the impact of communication delays on flocking performance.
  • To ensure convergence to a desired geometric pattern and trajectory tracking.

Main Methods:

  • Utilized backstepping techniques for controller design.
  • Applied graph theory for analyzing inter-robot communication topology.
  • Employed singular perturbation theory to handle system dynamics.
  • Investigated the effects of constant communication delays.

Main Results:

  • Proposed controllers enable flocking and convergence to a desired geometric formation.
  • The centroid of the robot formation successfully tracks a desired trajectory.
  • Controllers demonstrate robustness to constant communication delays.
  • Simulation results validate the effectiveness of the proposed control strategy.

Conclusions:

  • The developed distributed controllers are effective for achieving flocking in nonholonomic wheeled mobile robots.
  • Constant communication delays do not impede the flocking performance.
  • The approach provides a foundation for real-world applications requiring coordinated robot behavior.