https://hal.science/hal-00653812Beji, LotfiLotfiBejiIBISC - Informatique, Biologie Intégrative et Systèmes Complexes - UEVE - Université d'Évry-Val-d'EssonneEl Kamel, Mohamed AnouardMohamed AnouardEl KamelIBISC - Informatique, Biologie Intégrative et Systèmes Complexes - UEVE - Université d'Évry-Val-d'EssonneAbichou, AzgalAzgalAbichouLIM - Laboratoire d'Ingénierie Mathématique - Ecole Polytechnique de Tunisie - Université de Carthage - University of CarthageA Strategy for Multi-Robot NavigationHAL CCSD2011[INFO] Computer Science [cs]Davesne, Frédéric2020-01-16 16:26:092022-11-16 14:38:062020-01-21 13:32:56enConference papershttps://hal.science/hal-00653812/document10.1109/CDC.2011.6160369application/pdf1The paper addresses the problem of trajectory regulation of driftless systems such that a stabilizing control input is assumed exists. The perturbed trajectory depends on a regulation control-input which must be designed such that the system's stability is preserved and some undesirable sets belonging to navigation area must be avoided. For the stability and regulation of a multi-robot system a converging attractive set around the target is constructed and a repulsive set around obstacles is emphasized. Taking into account a communication algorithm agents-agents to agents-target, we prove that the proposed regulation control-input preserves the navigation area invariance property and the system's stability. Simulation results illustrate the effectiveness of he proposed control algorithm.