Mobile robots formation: Graph-force approach

In this paper, we address the problem of mobile robots formation, the idea behind this work is the use description of the formation in a graph. Each node of the graph represents a mobile robot, which is connected to its neighbors thru adjacency matrix, where each node has some effects on its neighbors; these effects are in the form of forces of repulsion and attraction. The proposed approach is proven using a group of mobile robots based on double integrator model which is simulated in MATLAB™. We use in this paper artificial potential field for both sensing and avoiding obstacles.