Cooperative Formation Control Study for Agricultural Robot Simulation in Square Farmland Areas

Agricultural land, especially in Indonesia, is generally square, so it has become an exciting topic of study to employ agricultural robots. In the era of the industrial revolution 4.0, agricultural robots were widely used in monitoring tasks, planting seeds, watering fertilizers, and applying smart agriculture. Cooperative control techniques in coordinating many robots in a square formation are very challenging to study in-depth. The purpose of this study was to evaluate the cooperative formation control for agricultural robots’ simulation on the distinction in the area of the square on agricultural land. From the calculation and simulation results, this method has succeeded in reaching a consensus on comparing the variation of the square area and the type of robotic communication. The consensus value tended to take a longer period to reach according to the broader square, particularly in the nonlinear relation of the suitable logarithm. In addition, one-way robotic communication had more rough position, speed, relation graph, and control signals than bidirectional communication in this square formation control.