%0 Journal Article
	%A Krishna S. Raghuwaiya and  Shonal Singh and  Jito Vanualailai
	%D 2011
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 60, 2011
	%T Formation Control of Mobile Robots
	%U https://publications.waset.org/pdf/11977
	%V 60
	%X In this paper, we study the formation control problem
for car-like mobile robots. A team of nonholonomic mobile robots navigate in a terrain with obstacles, while maintaining a desired
formation, using a leader-following strategy. A set of artificial potential field functions is proposed using the direct Lyapunov
method for the avoidance of obstacles and attraction to their designated targets. The effectiveness of the proposed control laws to verify the feasibility of the model is demonstrated through computer simulations
	%P 2697 - 2702