Formation control of mobile robots, Khepera 3 robots are used in these simulations and also the fmincon toolbox for optimizations.
Simulation has been the result of the proposed method in my paper:
"A Distributed Dual Decomposition Optimization Approach for Coordination of Networked Mobile Robots with Communication Delay."
2021 9th RSI International Conference on Robotics and Mechatronics (ICRoM). IEEE, 2021.
DOI: https://ieeexplore.ieee.org/abstract/document/9663474Formation control simulation results using Khepera 3 robots
We have utilized distributed optimization and model predictive control to manage the formation of four networked mobile robots. Khepera III mobile robots were employed for the experimental validation of the proposed control strategy.