Leader-follower formation tracking strategies using heterogeneous robots for monitoring and remediation applications

Abstract

This work presents two formation tracking strategies using a leader-follower scheme. The robots of the system are heterogeneous. In one of the strategies, formation tracking using a time-varying position vector is considered, while in the other one, formation tracking with time-gap separation is considered. The strategies presented in this work are intended for crop monitoring and remediation applications in precision agriculture. The theoretical results are validated by numerical simulations and real-time experiments.