Control Strategies for Multi-Mobile Robot Systems in Rigid Material Transport: A Structured Narrative Review

Darminto, Hendi Wicaksono Agung (2026) Control Strategies for Multi-Mobile Robot Systems in Rigid Material Transport: A Structured Narrative Review. Defence Science Journal, 76 (4).

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Abstract

This paper presents a structured narrative review of control strategies for multi-mobile robot systems (MMRS) applied to rigid material transport in Industry 4.0 industrial environments. The review covers publications from 2015 to 2023, with 51 sources examined across three thematic categories: mobile robot platform configurations for on-top transport, formation-based coordination and control methods, and IoT/Internet of Robotic Things (IoRT) as enabling infrastructure. The reviewed literature is organised around four main control strategy classes: virtual-structure approaches, leader-follower schemes, consensus-based decentralised control, and learning-based approaches. Each class presents different trade-offs in formation rigidity, communication dependence, scalability, and robustness. The review identifies that rigid material transport constitutes a payload-coupled control problem distinct from general multi-robot navigation, requiring explicit treatment of load stability, wheel slip, nonholonomic motion constraints, and communication latency. Virtual-structure methods currently offer the strongest formation stability guarantees for structured environments, while learning-based decentralised methods provide greater adaptability under uncertainty. IoT/IoRT technologies, particularly UWB localisation and low-latency communication protocols are identified as enabling infrastructure that supports coordination precision rather than as standalone control methods. Future MMRS research should strengthen links between transport control design, payload-aware stability analysis, fault-tolerant coordination, and secure connectivity for both industrial and defence logistics applications.

Item Type:	Article
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Faculty of Engineering > Department of Electrical Engineering
Depositing User:	Hendi Wicaksono Agung 6579
Date Deposited:	06 Jul 2026 06:13
Last Modified:	06 Jul 2026 06:13
URI:	http://repository.ubaya.ac.id/id/eprint/50911

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