Navigation of multiple input constraint micro-robotic agents

In this paper we consider the problem of navigating a team of input constraint robotic agents. The main motivation comes from the field of micro-robotics, where several input sets are more favorable than others, in the sense of incurring a lower relative actuation error. A switching controller that actuates the system in those favored input regions is derived based on Multirobot Navigation Functions. The system is shown to possess theoretically guaranteed global convergence and collision avoidance properties. Non-trivial computer simulations show the effectiveness of the methodology.