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On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by applying a coordinate transformation. The inverse dynamics technique is then applied to design a formation control. The controller can be applied both to positioning and to tracking desired robot formations. The formation control can be centralized or decentralized and scalable to any number of robots. A strategy for rigid formation obstacle avoidance is also proposed. Experimental results validate the control system design.<\/jats:p>","DOI":"10.1017\/s0263574707004092","type":"journal-article","created":{"date-parts":[[2008,1,28]],"date-time":"2008-01-28T14:51:39Z","timestamp":1201531899000},"page":"345-356","source":"Crossref","is-referenced-by-count":91,"title":["Dynamic model based formation control and obstacle avoidance of multi-robot systems"],"prefix":"10.1017","volume":"26","author":[{"given":"Celso","family":"De La Cruz","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ricardo","family":"Carelli","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2008,5,1]]},"reference":[{"key":"S0263574707004092_ref24","volume-title":"Nonlinear Systems Analysis","author":"Vidyasagar","year":"1993"},{"key":"S0263574707004092_ref22","doi-asserted-by":"crossref","unstructured":"22. Stilwell D. J. and Bishop B. E. , \u201cA Strategy for Controlling Autonomous Robot Platoons\u201d, IEEE Conference on Decision and Control, Sydney, Australia (December 2000) pp. 3483\u20133488.","DOI":"10.1109\/CDC.2000.912243"},{"key":"S0263574707004092_ref21","volume-title":"Applied Nonlinear Control","author":"Slotine","year":"1991"},{"key":"S0263574707004092_ref20","first-page":"379","article-title":"An Experience on Stable Control of Mobile Robots","volume":"33","author":"Secchi","year":"2003","journal-title":"Latin American Applied Research"},{"key":"S0263574707004092_ref17","doi-asserted-by":"crossref","unstructured":"17. Mut V. , Nasisi O. , Carelli R. , and Kuchen B. , \u201cTracking Adaptive Impedance Robot Control with Visual Feedback\u201d, IEEE International Conference on Robotics and Automation, Leuven, Belgium (May 1998) pp. 2002\u20132007.","DOI":"10.1109\/ROBOT.1998.680609"},{"key":"S0263574707004092_ref15","doi-asserted-by":"crossref","unstructured":"15. Mariottini G. L. , Morbidi F. , Prattichizzo D. , Pappas G. J. and Daniilidis K. , \u201cLeader-Follower Formations: Uncalibrated Vision-Based Localization and Control,\u201d IEEE International Conference on Robotics and Automation, Roma (April 2007) pp. 2403\u20132408.","DOI":"10.1109\/ROBOT.2007.363679"},{"key":"S0263574707004092_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.819598"},{"key":"S0263574707004092_ref13","unstructured":"13. Kelly R. , Carelli R. , Zannatha J. M. Ibarra and Monroy C. , \u201cFormation Tracking Control of a Group of Mobile Robots,\u201d In Spanish. VI Congreso Mexicano de Rob\u00f3tica, COMRob, Torre\u00f3n, Coahuila, Mexico (October 2004)."},{"key":"S0263574707004092_ref10","doi-asserted-by":"crossref","unstructured":"10. Desai J. P. , Ostrowski J. and Kumar V. , \u201cControlling Formations of Multiple Mobile robots,\u201d In Proc. 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