Autonomous Formation Switching for Multiple, Mobile Robots
Egerstedt, Magnus B.
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In this paper we investigate the question concerning what multi-agent formations to use in a given situation. In particular, we show how it is possible to produce a control strategy for teams of mobile robots that switches between different formations as a reaction to environmental changes. The feasibility of the approach is verified in simulation, where a steepest descent algorithm is combined with standard reactive behaviors that ensure that the individual robots avoid neighboring obstacles and robots, while approaching a desired target location.