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In the absence of perturbation, the open-loop policy achieves zero error in finite time. In the presence of perturbation, the closed-loop policy is globally asymptotically stabilizing with state feedback. Both policies were validated with hardware experiments using up to 15 robots. These experimental results suggest that similar policies might be applied to control micro- and nanoscale robotic systems, which are often subject to similar constraints.<\/jats:p>","DOI":"10.1177\/0278364914543481","type":"journal-article","created":{"date-parts":[[2014,8,29]],"date-time":"2014-08-29T20:41:04Z","timestamp":1409344864000},"page":"1626-1644","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":37,"title":["Controlling many differential-drive robots with uniform control inputs"],"prefix":"10.1177","volume":"33","author":[{"given":"Aaron","family":"Becker","sequence":"first","affiliation":[{"name":"Department of Cardiovascular Surgery, Boston Children\u2019s Hospital and Harvard Medical School, Boston, MA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cem","family":"Onyuksel","sequence":"additional","affiliation":[{"name":"Western Digital Corporation, Irvine, CA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Timothy","family":"Bretl","sequence":"additional","affiliation":[{"name":"Department of Aerospace Engineering, University of Illinois at Urbana\u2013Champaign, Urbana, IL, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"James","family":"McLurkin","sequence":"additional","affiliation":[{"name":"Computer Science Department, Rice University, Houston, TX, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2014,8,29]]},"reference":[{"key":"bibr1-0278364914543481","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2013.6580616"},{"key":"bibr2-0278364914543481","doi-asserted-by":"publisher","DOI":"10.1126\/science.1094791"},{"key":"bibr3-0278364914543481","doi-asserted-by":"publisher","DOI":"10.3182\/20100901-3-IT-2016.00045"},{"key":"bibr4-0278364914543481","doi-asserted-by":"crossref","unstructured":"Becker A (2012a) Feedback control of many differential-drive robots with uniform control inputs. 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