Dipartimento di Ingegneria informatica, automatica e gestionale

This work concerns the implementation of hybrid consensus control for nonholonomic multi-robot systems. It is shown how it is possible to attain a consensus behaviour in a multi-agent system having internal communications characterized by sampling. Furthermore, it is shown how it is possible to make the multi-agent system reach a formation with desired position and orientation by adding a virtual agent within the system. A simulation study supports and validates the theoretical results.