Generating formations with a template based multi-robot system

Jan Carlo Barca, Ahmet Sekercioglu

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

6 Citations (Scopus)


A template based technique that generates two dimensional formations in leader-follower type multi-robot systems is presented in this paper. How this technique: i) selects a leader robot that is placed at the front of formations and ii) enables six randomly positioned identical non-holonomic robots to compose triangular, circular, linear and rectangular formations is also demonstrated. The template based technique has been compared with a state-of-the-art potential field type formation generation technique and simulation results show that the template based technique can form circular formations 77.35% faster and with 51.43% shorter travel distance. The presented work is an important contribution to multi-robot control theory as history shows that the success of groups often depend on the ability to efficiently generate appropriate formations.

Original languageEnglish
Title of host publicationProceedings of the 2011 Australasian Conference on Robotics and Automation (ACRA 2011)
EditorsWai Ho Li
Place of PublicationMelbourne, Australia
PublisherAustralian Robotics and Automation Association (ARAA)
Number of pages9
ISBN (Print)9780980740424
Publication statusPublished - 2011
EventAustralasian Conference on Robotics and Automation 2011 - Monash University, Melbourne, Australia
Duration: 7 Dec 20119 Dec 2011


ConferenceAustralasian Conference on Robotics and Automation 2011
Abbreviated titleACRA 2011
Internet address

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