Creation of geometric formations of multiple robots with limited sensory power based on visual information

Among others, there are two important topics in multirobot formations, the maintenance of the formation while the robots are moving, and the initialization of the formation, that is, having the robots in an environment, they must reorder to create a specific formation. This paper presents a new approach based on the cooperation among a team of heterogeneous robots, with sensory power limitations, for the creation of geometric multirobot formations. The robots must cooperate among them in order to get that all the robots arrive to their positions in the formation, despite their sensory power. To get that, one robot carries on a camera and is in charge to detect the rest of robots in the environment and indicate them how to arrive to the position in the formation.