{"id":1777,"date":"2025-09-24T15:02:05","date_gmt":"2025-09-24T08:02:05","guid":{"rendered":"https:\/\/www.its.ac.id\/publikasi\/?p=1777"},"modified":"2025-09-24T15:02:05","modified_gmt":"2025-09-24T08:02:05","slug":"leader-follower-formation-and-obstacle-avoidance-for-nonholonomic-mobile-robots-using-velocity-obstacles","status":"publish","type":"post","link":"https:\/\/www.its.ac.id\/publikasi\/2025\/09\/24\/leader-follower-formation-and-obstacle-avoidance-for-nonholonomic-mobile-robots-using-velocity-obstacles\/","title":{"rendered":"Leader-Follower Formation and Obstacle Avoidance for Nonholonomic Mobile Robots Using Velocity Obstacles"},"content":{"rendered":"<div id=\"authorString\"><em>Misbah Habib Putra, Trihastuti Agustinah, Mochammad Sahal<\/em><\/div>\n<p>&nbsp;<\/p>\n<div id=\"articleAbstract\">\n<h4>Abstract<\/h4>\n<div>A multi-robot system is a group of robots that coordinate and perform complex tasks with the help of a communication system. The commonly adapted approaches in multi-robot formation control include the leader-follower method, where the leading robot acts as the coordination center, and follower robots track the movement of the leading robot. Multi-robot formations are usually faced by static and dynamic obstacles in the operational environment. In this paper, the obstacle-avoidance challenge is tackled by adopting the concept of velocity obstacles in a way that enables the robots to efficiently consider not only the velocity of an obstacle but also its direction in order to avoid collision. The method is evaluated through several simulation scenarios in different environments. The simulation results show that the multi-robot formation version can successfully avoid static and dynamic obstacles and reform a formation right afterward from zero collisions.<\/div>\n<\/div>\n<div id=\"articleFullText\">\n<h4>Full Text:<\/h4>\n<p><a class=\"file\" href=\"http:\/\/jaree.its.ac.id\/index.php\/jaree\/article\/view\/433\" target=\"_parent\">PDF<\/a><\/div>\n","protected":false},"excerpt":{"rendered":"<p>Misbah Habib Putra, Trihastuti Agustinah, Mochammad Sahal &nbsp; Abstract A multi-robot system is a group of robots that coordinate and perform complex tasks with the help of a communication system. The commonly adapted approaches in multi-robot formation control include the leader-follower method, where the leading robot acts as the coordination center, and follower robots track [&hellip;]<\/p>\n","protected":false},"author":250,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_joinchat":[],"footnotes":""},"categories":[101],"tags":[],"class_list":["post-1777","post","type-post","status-publish","format-standard","hentry","category-jaree-jurnal"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.1.1 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Leader-Follower Formation and Obstacle Avoidance for Nonholonomic Mobile Robots Using Velocity Obstacles - IJC ( ITS Journal Center )<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.its.ac.id\/publikasi\/2025\/09\/24\/leader-follower-formation-and-obstacle-avoidance-for-nonholonomic-mobile-robots-using-velocity-obstacles\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Leader-Follower Formation and Obstacle Avoidance for Nonholonomic Mobile Robots Using Velocity Obstacles - IJC ( ITS Journal Center )\" \/>\n<meta property=\"og:description\" content=\"Misbah Habib Putra, Trihastuti Agustinah, Mochammad Sahal &nbsp; Abstract A multi-robot system is a group of robots that coordinate and perform complex tasks with the help of a communication system. The commonly adapted approaches in multi-robot formation control include the leader-follower method, where the leading robot acts as the coordination center, and follower robots track [&hellip;]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.its.ac.id\/publikasi\/2025\/09\/24\/leader-follower-formation-and-obstacle-avoidance-for-nonholonomic-mobile-robots-using-velocity-obstacles\/\" \/>\n<meta property=\"og:site_name\" content=\"IJC ( ITS Journal Center )\" \/>\n<meta property=\"article:published_time\" content=\"2025-09-24T08:02:05+00:00\" \/>\n<meta name=\"author\" content=\"itspublikasi\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Written by\" \/>\n\t<meta name=\"twitter:data1\" content=\"itspublikasi\" \/>\n\t<meta name=\"twitter:label2\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data2\" content=\"1 minute\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"Article\",\"@id\":\"https:\/\/www.its.ac.id\/publikasi\/2025\/09\/24\/leader-follower-formation-and-obstacle-avoidance-for-nonholonomic-mobile-robots-using-velocity-obstacles\/#article\",\"isPartOf\":{\"@id\":\"https:\/\/www.its.ac.id\/publikasi\/2025\/09\/24\/leader-follower-formation-and-obstacle-avoidance-for-nonholonomic-mobile-robots-using-velocity-obstacles\/\"},\"author\":{\"name\":\"itspublikasi\",\"@id\":\"https:\/\/www.its.ac.id\/publikasi\/#\/schema\/person\/1241b8776d05c54fbc628c0a83d59e3c\"},\"headline\":\"Leader-Follower Formation and Obstacle Avoidance for Nonholonomic Mobile Robots Using Velocity Obstacles\",\"datePublished\":\"2025-09-24T08:02:05+00:00\",\"mainEntityOfPage\":{\"@id\":\"https:\/\/www.its.ac.id\/publikasi\/2025\/09\/24\/leader-follower-formation-and-obstacle-avoidance-for-nonholonomic-mobile-robots-using-velocity-obstacles\/\"},\"wordCount\":167,\"commentCount\":0,\"articleSection\":[\"jaree jurnal\"],\"inLanguage\":\"en-US\",\"potentialAction\":[{\"@type\":\"CommentAction\",\"name\":\"Comment\",\"target\":[\"https:\/\/www.its.ac.id\/publikasi\/2025\/09\/24\/leader-follower-formation-and-obstacle-avoidance-for-nonholonomic-mobile-robots-using-velocity-obstacles\/#respond\"]}]},{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.its.ac.id\/publikasi\/2025\/09\/24\/leader-follower-formation-and-obstacle-avoidance-for-nonholonomic-mobile-robots-using-velocity-obstacles\/\",\"url\":\"https:\/\/www.its.ac.id\/publikasi\/2025\/09\/24\/leader-follower-formation-and-obstacle-avoidance-for-nonholonomic-mobile-robots-using-velocity-obstacles\/\",\"name\":\"Leader-Follower Formation and Obstacle Avoidance for Nonholonomic Mobile Robots Using Velocity Obstacles - 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