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    Area of Science:

    • Robotics
    • Control Theory
    • Artificial Intelligence

    Background:

    • Coordinated control of multiple mobile robots is crucial for complex tasks.
    • Existing trajectory tracking schemes often lack robustness due to temporal constraints.

    Purpose of the Study:

    • To develop a robust consensus and coordinated path-following control strategy for multiple nonholonomic wheeled mobile robots.
    • To decouple path-following into longitudinal and lateral control for easier implementation.

    Main Methods:

    • Decoupled longitudinal (speed) and lateral (heading) control design.
    • Introduction of novel coordinated error variables for a chasing-and-waiting strategy.
    • Lyapunov stability analysis to ensure asymptotic stability of closed-loop signals.

    Main Results:

    • The proposed control scheme significantly improves coordination robustness by removing temporal constraints.
    • Demonstrated asymptotic stability of all closed-loop signals using Lyapunov analysis.
    • Simulation results validate the effectiveness of the coordination controllers for various path types.

    Conclusions:

    • The developed control strategy offers a robust and implementable solution for coordinated path-following in multi-robot systems.
    • The novel error variables and decoupled control approach enhance system performance and stability.
    • The findings are verified through simulations, confirming the practical applicability of the controllers.