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\begin{document}

\title{Multi-Robot System Dynamics and Path Tracking}



\author[1]{Yousif Kheerallah}%
\author[1]{Ali Marhoon}%
\author[1]{Mofeed Rashid}%
\author[1]{Abdulmuttalib Rashid}%
\affil[1]{University of Basrah}%


\vspace{-1em}



  
  \date{May 19, 2024}


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\begin{abstract}
Leader detection and follow it are the main challenges in designing a
leader-follower multi-robot system, in addition to the challenge of
achieving the formation between the members while tracking the leader.
The biological system is one of the main sources of inspiration for
understanding and designing such multi-robot systems, especially, the
aggregations that follow an external stimulus such as the population of
Artemia. In this paper, a dynamic model of a multi-robot system
following a spot of light, as a leader will design based on the
collective motion behavior of the aggregations of Artemia. The kinematic
model will derive based on observation of Artemia behavior under
external stimuli, while the dynamic model will be derived based on the
newton equation and its parameters will be evaluated by two methods:
first one based on the physical structure of the mobile robot and the
other based on Least Square Parameter Estimation method. Several
experiments have been implemented in order to check the success of the
proposed system, which are divided into four scenarios of simulation
according to four trajectories, the straight line, circle, zigzag and
compound path pattern. V-Rep software has been used for the simulation
and results appeared the success of the proposed system and the high
performance when robots are tracking the leader.%
\end{abstract}%



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