Guidance of a flotilla of wheeled robots: a practical solution

This paper presents a practical solution to the guidance of a fleet of unicycle type robots, including path following, formation keeping, obstacle avoidance, collision avoidance and the respect of wheeled actuation saturation constraint, without planning procedure. These results are based on an extension of previous results on path following control including actuation saturation constraints. New solutions for obstacle avoidance and collision avoidance are proposed.