Abstract
This paper presents a design framework based on a GPS(Global position system) and Bluetooth communication for leader following and migration in decentralized control system. Very few attempts have been made at the study of the leaderfollowing system with combination of a GPS and Bluetooth communication. As well, their leader following systems are not decentralized by the use of a central computer. In this study, the leader robot migrates to the destination by the GPS receiver and magnetic compass sensor. The follower robot receives the position information of the leader robot through a Bluetooth communication between the leader and follower robots. And the current position information of the follower robot is received from its own GPS.
