Marching control of unicycles based on the leader-followers scheme

This paper presents two marching control strategies for unicycles using Artificial Potential Fields. The strategies are based on the leader-followers scheme where the leader agent must follow a prescribed trajectory and the rest of the agents achieves a desired formation at the same time. The agents can detect another agent only (minimum sensing requirements) and it is assumed that a centralized control does not exist. The main goal is to achieve desired global behaviors through local interactions. The results are validated by numerical simulations. Finally, the performance of the proposed strategies is evaluated over an experimental set-up consisting of three unicycle-type robots.