Emergent Approach to Circle Formation by Multiple Autonomous Modular Robots

Abstract

This paper deals with the problem of circle formation by multiple autonomous robots on emergent approach. The robots in question are simple, having fan-shaped local vision consisting of three areas to detect three states in each area – whether the number of robots in an area is zero, one, or more than one. We suggest heuristic action decision rule having robots form a circle stochastically. Using computer simulation, we make it clear that view angles of the local vision and the number of robots in the arena affect circle forming process, and that the certainty of circle formation is high enough if robots have certain view angles. We describe that view angles control the distance between robots using kinematic view. The keys to designing robots to form a circle are the front-view angle for making virtual attraction force toward one robot, and the side-view angle for making equilibrium of virtual force toward two robots.