Circle Flocking of Swarm Robots Based on Relative Position Measurement

Inspired by the self-organized behaviors of social animals, swarm robots have been investigated from the perspective of both scientific discoveries and engineering studies in a decentralized way. It is shown that simple rules and local interactions will surprisingly lead to collective behaviors for a large number of robots. Nevertheless, most of the existing results for practical applications relies on absolute position measurements of the robots. In this paper, based on the classic leaderless consensus algorithm, a novel control approach is proposed for circle flocking of swarm robots based on relative position measurement. Comprehensive case studies are provided to evaluate the proposed control approach.