Distributed Line Formation Control in Swarm Robots

Abstract

A distributed line formation control algorithm is put forward by using only one kind of sensor network in our paper, it is developed by the analysis of geometric features. The proposed algorithm permits to arrange the swarm robots without a dictated communication channel and negotiation protocols, which can be applied in the circumstances just like underwater environments where the data communications between robots are always limited. Meanwhile, the simulation of the algorithm designed in this paper and the experiments are presented. Experimental results indicate that the algorithm is reliable.