A PhD thesis at the College of Engineering at the University of Basrah discussing (Design and implementation of the configuration of a multi-robot leader-subordinate system in an unknown environment)

the thesis submitted by the student, Bayader Abdul Razzaq Issa Propose new centralization algorithms to control static and dynamic polygon formation .

A group of randomly distributed neighboring robots in an unknown environment.

The thesis is divided into three sections, first: The leader and follower localization algorithm for multiple robots is used to determine the real locations and directions of the leader and follower robots.

Second, the neighboring robots are rearranged into a regular distribution using one of the four proposed algorithms:

The least energy algorithm, the minimum time algorithm, the leader-neighbor algorithm, the neighbor-leader algorithm, and finally in the third part, a low-cost and high-precision dynamic control algorithm for a multi-bot system between the leader and neighboring robots was proposed.

This thesis aims to design and implement a configuration of a multi-bot follower system in an unknown environment

The thesis concluded that all the proposed algorithms were simulated using the Visual Basic platform and the V-REP platform in order to validate this work in achieving a regular formation of a group of robots, where the results showed a good performance. While the bot locating algorithms have been practically verified by implementing different scenarios.