Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Formation of Multiple Groups of Mobile Robots Using Sliding Mode Control   Formation control of multiple groups of agents finds application in large
area navigation by generating different geometric patterns and shapes, and also
in carrying large objects. In this paper, Centroid Based Transformation (CBT)
\cite{c39}, has been applied to decompose the combined dynamics of wheeled
mobile robots (WMRs) into three subsystems: intra and inter group shape
dynamics, and the dynamics of the centroid. Separate controllers have been
designed for each subsystem. The gains of the controllers are such chosen that
the overall system becomes singularly perturbed system. Then sliding mode
controllers are designed on the singularly perturbed system to drive the
subsystems on sliding surfaces in finite time. Negative gradient of a potential
based function has been added to the sliding surface to ensure collision
avoidance among the robots in finite time. The efficacy of the proposed
controller is established through simulation results.

9
The categories of this paper are: nlin
30
The categories of this paper are: q-alg
33
The categories of this paper are: plasm-ph
16
The categories of this paper are: stat
12
The categories of this paper are: nucl-th
0
The categories of this paper are: hep-ph
21
The categories of this paper are: adap-org
3
The categories of this paper are: physics
36
The categories of this paper are: cmp-lg
17
The categories of this paper are: q-fin
27
The categories of this paper are: comp-gas
4
The categories of this paper are: cond-mat
2
The categories of this paper are: math
24
The categories of this paper are: dg-ga
19
The categories of this paper are: eess
26
The categories of this paper are: bayes-an