Realization of Consensus with Collision and Obstacle Avoidance in an Unknown Environment for Multiple Robots In this paper, we present a fuzzy logicbased control approach for the collision avoidance of a multirobot system. A simple and continuoustime consensus law is implemented to achieve the rendezvous of the multiple mobile robot agents. A fuzzy logicbased controller is designed over a potential field method, as fuzzy algorithms are often robust and are not very sensitive to changing environments. Fuzzy logic is also useful for unknown and semiunstructured environments. The algorithms are applicable to a general Nrobot system and they are applied to three robots which are available in the host lab. Detailed information on the realtime implementation of the algorithm on three Pioneer mobile robots are presented. We have included simulations and experiments carried out to verify the effectiveness of our approach in this paper.

Nonlinear control of a group of tracked robots The paper presents a solution of the problem of nonlinear control law design for a group of mobile robots. The paper also provides a survey of modern methods and approaches to group control, discusses the use of methods for optimizing collective behavior, artificial potential fields, heuristic methods based on the recognition of the situation and the development of appropriate actions and methods based on the use of fuzzy logic. It is shown that when applying these methods, the problem of analyzing the stability of the obtained closedloop control system is complex. From the survey of modern methods, the basic conditions imposed on the synthesized law of group control of robots are highlighted. These conditions are adaptability to the external environment and asymptotically stable movement of mobile robots to a given point in space with a given type of order. Therefore, the paper presents a method which is based on new nonlinear approaches to the control of mobile robotsxe2x80x99 group, in particular, synergetic control theory. The main aspects of the proposed method are providing a stable moving of a group of tracked robots to the desire position, therefor in the result it makes a specified formation.