Decentralized lattice formation control for micro robotic swarms

In this paper, we discuss an algorithm for distributed formation of a lattice structures using a team of mobile robots. Lattice structures can be used for solving task allocation problems, as well as for utilizing cooperative swarm like motion for the agents. We are specifically dealing with the problem of constructing a lattice decentralized with the agents having only a limited sensing radius and a possibly imperfect communication channel that make ¿agree and go¿ methods unsuitable for solving the problem. The proposed algorithm is based on reducing the 2D problem to an 1D problem, i.e. moving on a curve that connects all the lattice points without intersecting itself. The algorithm is decentralized and is exact in the sense that all agents will converge to the lattice structure.