The Null-Space based Behavioral control for a team of cooperative mobile robots with actuator saturations

This paper presents the application of the Null-Space based Behavioral (NSB) approach to the motion control of a team of mobile robots with velocity saturated actuators. In particular, the proposed solution aims at managing actuator velocity saturations by dynamically scaling task velocity commands so that the hierarchy of task priorities is preserved in spite of actuator velocity saturations. The approach is tested on a specific case study where the NSB elaborates the motion directives for a team of six mobile robots that has to entrap and to escort a target. The approach is validated by numerical simulations and by experimental results.