Scalable multi-robot formations using local sensing and communication

In this paper, the solution of a multi-robot formation task is presented. All robots use only local sensing and local communication as an additional tool for the whole system performance. We assume the solution to be local, robust to the size of the multi-robot team, stable in the case of occurrence of obstacles and able to support many formation shapes. Local inter-robot communication enables the group of robots to organize into a formation without the need of predetermined positions in the formation. We apply a set of social roles that represent the occupation positions in the formations and are dynamically assigned to robots aggregating into the formation using the communication process. The overall algorithm, general strategy, local sensing and communication features are described. A three-layered behavior-based control architecture including social, logical and reactive layers was used. Examples of local formation emergence, dynamic social role assignment, and stability in case of occurrence of obstacles are presented.