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

In this paper, the experimental validation of a behavior-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 different 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 Universita degli Studi di Cassino.