Self-Stabilizing Robot Team Formation with Proto: IEEE Self-Adaptive and Self-Organizing Systems 2012 Demo Entry

We have used the Proto spatial computing language to create teaming algorithms based on random chain formation. Our algorithms are self-stabilizing, scale easily from less than ten robots to thousands of robots, and are highly robust against dynamic changes in perception and communication, arena size, teaming goals, adding and removing robots, and even mobility dimension. In this paper, we describe our approach, give details on our algorithms and their self-* properties, and present simulations validating the algorithms.