Self-Organizing Formations Control for a Large Number of Autonomous Mobile Robots

Dan Necsulescu, Elisha Pruner, and Jurek Sasiadek


Selforganizing formations, autonomous robots, velocity potential field, velocity command


Formations required to move to given destinations can be controlled to arrive to a predefined geometric shape or to self-organize. For a large number of autonomous mobile robots, geometric formations pose too many constraints to achieving inter-robot positions. Self-organizing formations are more suitable for a large number of robots and generate formation shapes while avoiding robots collisions. In this paper are investigated approaches for self-organizing formations of large number of robots. The approach, inspired by hydrodynamic flow, results in an artificial velocity field approach that avoids local minima due to a combination of normal and tangential velocity commands associated to obstacles. These commands, for the formation of a large number of robots that are all subject to a velocity vector command to move to the goal, avoid inter robots collisions. In this paper is investigated the efficiency of this control approach in generating a formation shape and maintaining it during motion while moving toward a goal. Experimental and simulation results confirm the applicability of this control approach.

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