Geometric formations in swarm aggregation: an artificial formation force based approach
Ekanayake, Samitha and Pathirana, Pubudu 2007, Geometric formations in swarm aggregation: an artificial formation force based approach, in ICIAfS 2007 the 3rd International Conference on Information and Automation for Sustainability, The Institute of Electrical and Electronics Engineers, Inc (IEEE), Piscataway, N.J., pp. 82-87.
Cooperative control of multiple mobile robots is an attractive and challenging problem which has drawn considerable attention in the recent past. This paper introduces a scalable decentralized control algorithm to navigate a group of mobile robots (swarm) into a predefined shape in 2D space. The proposed architecture uses artificial forces to control mobile agents into the shape and spread them inside the shape while avoiding inter-member collisions. The theoretical analysis of the swarm behavior describes the motion of the complete swarm and individual members in relevant situations. We use computer simulated case studies to verify the theoretical assertions and to demonstrate the robustness of the swarm under external disturbances such as death of agents, change of shape etc.