Pattern formation using multiple robots

Pattern formation is one of typical problems in the field of multi-robot cooperation. It can be applied to complex application scenarios such as region coverage and path exploration. Compare to traditional multi-robot coordination algorithm, the method based on swarm robots to solve the issue of pattern formation has better scalability and dynamic adaptability and robustness. In this demo, we propose a scalable algorithm using a modified gradient descent technique which allows a swarm of robots to form a letter, such as `A'. In this demo, we verify our algorithm through experimentation in a team of self-organized robots, in which communication with each other is through Zigbee network.

I. Introduction

The research on the algorithm based on swarm robots to solve the issue of pattern formation has important practical and scientific significance. For example, in military reconnaissance, the robotic nodes will be dropped onto the battle field from a plane and land at random positions, the robots will be expected to arrange themselves into a predetermined formation in order to perform a specific task [1]. Also, algorithm of pattern formation can be applied to other complex application scenarios such as path exploration [2] and target search [3]. Furthermore, the research process of pattern formation is involved with many problems such as task allocation, self-organization and dynamic optimization in multi-robot cooperation which also have research value.