Multi-Robot Systems Formation Control with Maneuvring Target in System Applicable in the Hospitality and Care-Health Industry of Medical Internet of Things

Multi robot systems are useful for many automated tasks such as hospital meal deliveries, deliver medications, and in health care facilities. The most common application of vicarious liability in the medical field is to be found in situations where hospitals can be held liable for the negligent acts of the doctors or nurses whom they employ, the motion control of several mobile robots moving forward according to the specific path while maintaining formation is considered. In this work, the motion control of several mobile robots moving forward according to specific path while maintaining formation is considered. The leader-follower strategy is adopted with the developed gradient descent (GD) approach. Therefore, one individual, which is the leader, is assumed to command the reference trajectory for the other robots (swarm). Accordingly, the communication scheme forms a simple star network topology. This topology is essential for tracking with formation, which can be achieved with minimal configuration, thereby leading to a simple implementation from a technological perspective. The proportional controllers are a mix of linear and nonlinear time-varying systems to satisfy a property of system mechanisms. Robot structures are prepared to separate the functions of robots' orientations and position tracking. Each mobile robot is tasked with tracking the assigned trajectory and maintaining the required formation of the swarm. The evaluations of the controllers are verified through various posture angle trajectories. It has also been shown the potential in leader-follower tracking with obstacle avoidance.