On the other hand, studies of coordinating trajectories of omni wheels in a simple way are rare subjects. From the results in unicycle case, it can be said that applying similar concept for omni wheels mobilerobots will be a valuable result. Motivating by the facts, this paper addresses the problem of coordinating a group of omni wheel mobilerobots by means of exchanging individual tracking errors. Furthermore, the group is extended to be a mixed of unicycle and omni wheel mobilerobots. The stability of the system is investigated using Lyapunov theorem. The algorithm is structured such that delays in communication channel can be easily compensated.
The moving and map building in wild environment is of great importance in the research of robot filed. Due to the large area, the system states increase exponentially. The researches for robot SLAM follow the variations of the application environments, from 2-dimentional environment  to 3-dimentional environment , from structured environment  to none- structured environment , from indoor  to outdoor  and other natural none-structured environment . For the SLAM of vehicle robots, it is necessary to update the pose and map after every new observation .
In this works, integration of IT2FL and PSO algorithm in swarm robots has been proposed on real mobile robot. Some practical issues are expected to arise. In this section, we point out major issues in the light of some preliminary studies, with an experimental setup composed of multi olfactory mobile robot for gas/odour source detection. To investigate the effectiveness of the IT2FL-PSO algorithm, several experiment is done in a room 5 m × 5 m. During the experiments, the doors and windows of the room were kept shut. Methanol, which is a volatile and colorless liquid, is used as chemical gas source. In this experiment, five smaller mobilerobots move using a random walk strategy at a maximum speed of 0.3 m/s. Whenever mobile robot is trapped in local minima or reached a goal boundary, it received a new target position chosen randomly from the workspace.
The tracking problem is a challenging problem in mobile robotics. Some re- seachers have discussed the control design of a mobile robot to track a desired path in ,,,,. In , the authors discuss the tracking control of mobilerobots using integrator backstepping. Many mechanical systems with nonholonomic con- traints can be locally or globally converted to the chained form under coordinate change. Jiang and Nijmeijer  study the tracking control problem of nonholo- nomic system in chained form. They derive semi global tracking controllers for general chained form systems by means of backstepping and they achieve global tracking results for some special cases. In , an adaptive tracking control prob- lem is studied for a four wheel mobile robot. The authors propose a formulation for the adaptive tracking problem that meets the natural prerequisite such that it reduces to the state feedback tracking problem if the parameters are known. They derive a general methodology for solving their problem. In , Panteley et all study exponential tracking control of a mobile car using a cascaded approach. They show that the nonlinear controllers proposed in  can be simplified into linear controller for both the kinematic model and a simple dynamic model of the mobile robot. Their approach is based on cascaded system. In , the authors study a sufficient condition for the full state tracking stability of nonholonomic wheeled mobilerobots by using the tracking control schemes based on the input output dynamics. They show that the tracking error internal dynamics and ze- ro dynamics play a critical role of the full state tracking stability of such mobilerobots. In , Tang et al. study optimal output tracking control (OOTC) prob- lem for a class of bilinear systems with a quadratic performance index using a successive approximation approach (SAA). They develop a design process of the OOTC law based on the SAA for bilinear system. In , Miswanto et al. study the tracking problem of a swarm model with the presence of a leader by using the least square method. That model is a control system which consists of many agents and one agent has a role as a leader. The control of optimal motion of the leader is obtained by using the Pontryagin Maximum Principle. In particular, this control steers the leader to trace a desired path.
Autonomous mobilerobots are machines that are able to move around freely in a manner appropriate for their environment, with respect to some general goals. Control of the robot‟s movement in an environment is generally referred to as navigation. The earliest autonomous mobile robot was built by Dr. Grey Walter in the 1940‟s.  However, research in developing mobilerobots as an end in itself began in earnest in the late 1960‟s. 
Today, number of swarm robotic system have been proposed for numerous applications where human intervention is not feasiblesuch as radioactivity detection, firefighting and landmine detection,the robots need to be dispensable . A large number of robots allow for redundancy and increase the robustness of the swarm.The increasing interest in swarm robotic system indicates that employing multiple inexpensive and simple mobilerobots as opposed to a single expensive . An expensive robot may be able to achieve the task but its failure can prove to be costly and dangerous in mission critical applications. By building swarm of robots with elementary features, the same task can be achieved for a lower cost and increased reliability . In search applications also have an advantage of larger coverage of the search space and its simplicity of implementation. They could perform exploration tasks in a large-scale area more efficiently -due to, the swarm shares information about the environment and individual members interact with each other .Without being able to process and respond to new information, a robot loses its ability to adapt.
Abstract — There are few challenges in the detection of gas leaks using a mobile robot such as, the search space is vast, needed of a certain level of intelligence so that the searching process of robot become optimal, and the complexity to deal with unstructured environments. Combination of Particle Swarm Optimization(PSO) and Fuzzy Logic Control(FLC) can answer these challenges, PSO role as each robot can conduct cooperation in the searching process of robots, where robots can tell the nearest other robot best position. FLC roles to handle complexity in avoiding other robots and obstacles so that the robot can avoid obstacles smoothly. As results of the simulation showed that PSO-FLC control can detect gas leak’s source better based on the output of velocity and turning control as well as better travel time search, compared with the control of mobilerobots without any PSO or FLC.
Mobilerobots with shrimp design are known to be ever changing when climbing or working under rugged terrains. Because of its sturdiness, robots with shrimp configuration will be able to perform complicated tasks. This work reproduced a mobile robot with shrimp design as proposed by Siegwart. A conventional shrimp robot has six wheels. Its structural complexity results in a perception that it is a hard- to-build robot. For straightforwardness, our shrimp rover is signified by a graph. The working volume for the platform is (678 by 350 by 525) cubic millimeter, with the exception of the front and rear forks' dimensions. It has a platform module attached to two forks, at front and rear, respectively. The forks have extra suspensions, whereas the platform relies on the suspension given by the wheels. Gyroscopic consequences on the rover are due to area surface conditions. The gyroscopic effects can be analyzed by computing the joint angles and change in heights all through rover maneuver. The products of the joint angles and change in the heights represent membership functions, which values are within certain limits. Therefore, the limits for the membership function values are the determinant circumstance for predicting the rover's stability if it will ever flip through.
This project proposes method to solve the problem of collision avoidance for mobilerobots. The project is about mobile robot that is able to detect obstacles and avoid them. The model based on ultrasonic sensor guided the direction, to generate collision free motion. It should be able to detect obstacles before collision occurs. It follows that, the robot should be able to draw conclusion either turns to the left or right. This type of mobile
Both, the customer and the vendor get themselves registered with the payment service. Each subscriber gets an individual PIN to authenticate himself via WAP or SMS, in order to make payments for his purchases. The advantage to the subscriber lies in the fact that he does not need to get himself registered with each individual vendor. The vendor, on the other hand, does not need to worry about the creditworthiness of the individual customer. He may also hope to attract customers who would have liked to pay by mobile means but who were not willing to register themselves with him.