Synchronization of mobile robots with secure transmission

https://doi.org/10.58571/CNCA.AMCA.2025.067

Resumen: This work investigates the synchronization problem of wheeled mobile robots (WMRs) in a leader-follower configuration while safely sending information. First, we design an almost global trajectory tracking controller for the wheeled mobile robot. Then, we propose a synchronization strategy using static (direct) couplings combined with an encryption algorithm to add security to network communication. The stability and synchronization analyses were carried out using Lyapunov and graph theories and complex systems concepts. We provide experimental results to validate our theoretical findings.

¿Cómo citar?

Villalobos-Aranda, A., Pliego-Jiménez, J., Arellano-Delgado, A. & Cruz-Hernández, C. (2025). Synchronization of mobile robots with
secure transmission. Memorias del Congreso Nacional de Control Automático 2025, pp. 391-396. https://doi.org/10.58571/CNCA.AMCA.2025.067

Palabras clave

Synchronization, encryption, nonlinear control, chaotic systems, mobile robotics.

• Arellano-Delgado, A., López-Gutiérrez, R.M., Murillo-Escobar, M.A., Cardoza-Avendaño, L., and Cruz-Hernández, C. (2017). The emergence of hyperchaos and synchronization in networks with discrete periodic oscillators. Entropy, 19(8), 413. doi: https://doi.org/10.3390/e19080413.
• Arellano-Delgado, A., Méndez-Ramírez, R.D., López-Gutiérrez, R.M., Murillo-Escobar, M.A., and Cruz-Hernández, C. (2023). Enhancing the emergence of hyperchaos using an indirect coupling and its verification based on digital implementation. Nonlinear Dynamics, 1–15. doi:https://doi.org/10.1007/s11071-023-08313-0.
• Foulds, L.R. (2012). Graph theory applications. Springer Science & Business Media.
  Lippay, Z.S. and Hoagg, J.B. (2021). Formation control with time-varying formations, bounded controls, and local collision avoidance. IEEE Transactions on Control Systems Technology, 30(1), 261–276. doi: 10.1109/TCST.2021.3062824.
• López Parra, A. (2017). Formación en grupos de robots móviles. Ph.D. thesis, Centro de Investigación Científica y de Educación Superior de Ensenada, Baja California.
• Martínez Clark, R. (2014). Control de comportamientos colectivos en grupos de robots móviles. Ph.D. thesis, Centro de Investigación Científica y de Educación Superior de Ensenada, Baja California.
• Miao, Z., Zhong, H., Lin, J., Wang, Y., Chen, Y., and Fierro, R. (2020). Vision-based formation control of mobile robots with fov constraints and unknown feature depth. IEEE Transactions on Control Systems Technology, 29(5), 2231–2238. doi:10.1109/TCST.2020.3023415.
• Montañez-Molina, C.F. (2020). Formación de vehículos aéreos con aplicaciones a búsqueda y vigilancia. Ph.D. thesis, Centro de Investigación Científica y de Educación Superior de Ensenada, Baja California.
• Saradagi, A., Muralidharan, V., Krishnan, V., Menta, S., and Mahindrakar, A.D. (2017). Formation control and trajectory tracking of nonholonomic mobile robots. IEEE Transactions on Control Systems Technology, 26(6), 2250–2258. doi:10.1109/TCST.2017.2749563.
• Vara Herrera, Y.A. (2021). Sincronizaci´on externa de robots móviles empleando acoplamiento dinámico. Ph.D. thesis, Centro de Investigación Científica y de Educación Superior de Ensenada, Baja California.
• Villalobos-Aranda, C., Pliego-Jiménez, J., Montañez-Molina, C., and Arellano-Delgado, A. (2024). An almost global trajectory tracking controller for differential-drive wheeled mobile robots. International Journal of Control, Automation and Systems, 22(12), 3684–3693.
• Zhao, S., Dimarogonas, D.V., Sun, Z., and Bauso, D. (2017). A general approach to coordination control of mobile agents with motion constraints. IEEE Transactions on Automatic Control, 63(5), 1509–1516. doi: 10.1109/TAC.2017.2750924.