Experiments of Formation Control With Multirobot Systems Using the Null-Space-Based Behavioral Control

Abstract—In this paper, the experimental validation of a be-havior-based technique for multirobot systems (MRSs), namely, the Null-Space-based Behavioral (NSB) control, is presented. The NSB strategy, inherited from the singularity-robust task-priority inverse kinematics for industrial manipulators, has been recently proposed for the execution of different formation-control missions with MRSs. In this paper, focusing on the experimental details, the validation of the approach is achieved by performing dif-ferent experimental missions, in presence of static and dynamic obstacles, with a team of grounded mobile robots available at the Laboratorio di Automazione Industriale of the Università degli Studi di Cassino. Index Terms—Formation control, mobile robots, multirobot sys-tems (MRSs). I