Distributed multirobot shape control with a multilevel-based topology and market-based auction algorithm

This paper presents a distributed control approach to shape control of a multirobot group. Upon definition of the desired region that robots converge to, a multilevel based topology is designed within the desired region, and formations of different shapes can be constructed using the proposed topology. A market based auction algorithm is further developed to drive the robot group towards particular positions inside the desired region to form the desired shape. Simulations results are shown to demonstrate the effectiveness of the proposed approach.