Parking Task for an Emulated Trailer through a Heterogeneous Multi-Agent Robot System

This paper proposes a heterogeneous multi-agent robot system, composed of differential-drive robots and omnidirectional mobile robots to emulate the parking task from a kinematic point of view. For this aim, a control strategy, based on the feedback linearization techniques, is proposed, obtaining asymptotic convergence to the desired trajectory. Numerical simulations illustrate a comparison between the behavior of the heterogeneous system and a standard n-trailer system while performing the parking task.