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The proposed control law designed is decentralized and scalable. Simulations and experimental results confirm the feasibility and the effectiveness of the proposed controller and the advantages of using the dynamic model of the mobile robot. By using this new strategy, the formation of mobile robots is able to change its configuration (shape and size) and follow different trajectories in a precise way, minimizing the tracking and formation errors.<\/jats:p>","DOI":"10.1017\/s0263574710000068","type":"journal-article","created":{"date-parts":[[2010,5,5]],"date-time":"2010-05-05T05:29:29Z","timestamp":1273037369000},"page":"335-349","source":"Crossref","is-referenced-by-count":35,"title":["Formation control and trajectory tracking of mobile robotic systems \u2013 a Linear Algebra approach"],"prefix":"10.1017","volume":"29","author":[{"given":"Andr\u00e9s","family":"Rosales","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gustavo","family":"Scaglia","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vicente","family":"Mut","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fernando","family":"di Sciascio","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2010,5,5]]},"reference":[{"key":"S0263574710000068_ref15","doi-asserted-by":"publisher","DOI":"10.1007\/0-306-47536-7_5"},{"key":"S0263574710000068_ref12","unstructured":"12. 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