Publication
A new algorithm for the control of formations of mobile robots is presented. Formations with a triangular lattice structure are created using distributed control rules, using only local information on each robot. The overall direction of movement of the formation is not pre-established but rather results from local interactions, giving all the robots a common, self-organized heading. Experiments were done to test the algorithm, yielding results in which robots behaved as expected, moving at a reasonable speed and maintaining the desired distances among themselves. Up to seven robots were used in real experiments and up to forty in simulation.
Alcherio Martinoli, Chiara Ercolani, Faezeh Rahbar
Alcherio Martinoli, Chiara Ercolani, Wanting Jin, Faezeh Rahbar