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 formatio...

This paper addresses schemes for fault detection and isolation in a semi-decentralized environment. Now-a-days, sensor fault and failure are prevalent issues in numerous wireless sensor networks. We propose a few algorithms based on simple phenomenon of data fusion. Initially, a mutual consensus has been built among followers (e.g., Unmanned Autonomous Vehicles in this case) who are tracking a ...

The paper considers the problem of driving a formation of autonomous mobile agents. The group of mobile devices is represented by a leader-follower network, where the followers update their position using a simple local consensus procedure, while the leaders, whose positions represent the control inputs of the network, are free to move. We characterize the transient behavior of the network, and...

This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader. In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies. Several numerical simulations are given to veri...

The problem of consensus in the presence of misbehaving agents has increasingly attracted attention in the literature. Prior results have established algorithms and graph structures for multi-agent networks which guarantee the consensus of normally behaving agents in the presence of a bounded number of misbehaving agents. The final consensus value is guaranteed to fall within the convex hull of...

This paper addresses the distributed consensus design problem for linear multi-agent systems with directed communication graphs and external disturbances. Both the cases with strongly connected communication graphs and leader-follower graphs containing a directed spanning tree with the leader as the root are discussed. Distributed adaptive consensus protocols based on the relative states of nei...