ISBN
Formato digital
979-13-87837-54-9
Fecha de publicación
06-10-2025
Licencia
D. R. © Copyright 2025. Alma Y. Alanis, Jorge Galvez, Omar Avalos, Eduardo Méndez-Palos, Jorge D. Rios, Adriana Peña Perez-Negron & Gabriel Martínez Soltero
Todos los contenidos de esta obra se comparten bajo la licencia Creative Commons Atri-bución/Reconocimiento-NoComercial-CompartirIgual 4.0 Internacional (CC BY-NC-SA 4.0). Esto implica que no está autorizado el uso comercial de la obra original ni de las eventuales obras derivadas, las cuales deberán distribuirse bajo la misma licencia que rige la obra original. No obstante, se permite a terceros compartir el contenido siempre y cuando se reconozca debidamente la autoría y la publicación original en esta editorial.
Jesús Hernández Barragan
Universidad de Guadalajara
Miguel Meza Chávez
Universidad de Guadalajara
Nancy Arana Daniel
Universidad de Guadalajara
0000-0002-8803-9502
Carlos López Franco
Universidad de Guadalajara
0000-0001-8122-3799
Michel López Franco
Universidad de Guadalajara
0000-0002-4245-9683
Acerca de
This paper presents a consensus-based formation control strategy for omnidirectional mobile robots based on weighted graphs. The proposed method drives a group of robots to achieve and maintain a desired formation, performing consensus in both positions and orientation agreements. Moreover, weighted graphs allow collision avoidance among robots by rotating and adapting the formation shape. Simulation experiments were performed to validate the effectiveness of the proposed strategy, demonstrating the successful convergence of formation in a network of four omnidirectional platforms.
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