Implementation consensus algorithm and leader-follower of multi-robot system formation

Robot technology has recently been applied to many applications help human activities. Mobile is one of the most flexible robot technology. This research uses a mobile designed using an omnidirectional wheel for movement mechanism. Coordination and control multi-robots can be assigned perform any task from different kind field. Therefore, this paper aims develop multi-robot system form formation do task. The consists three units Robot. will built based on coordinate point determined by consensus point. leader-follower topology used determine orientation robot. ROS (Robot Operating System) as middleware create system. Open Base package in Gazebo Simulator also simulate multi-robot. From test scenarios, results show that all robots follow tasks simulated with average accuracy 88.14%. Furthermore, no feedback affects robot's below 90%.