Polygon Shape Formation for Multi-Mobile Robots in a Global Knowledge Environment


In coordination of a group of mobile robots in a real environment, the formation is an important task. Multimobilerobot formations in global knowledge environments are achieved using small robots with small hardwarecapabilities. To perform formation, localization, orientation, path planning and obstacle and collision avoidanceshould be accomplished. Finally, several static and dynamic strategies for polygon shape formation areimplemented. For these formations minimizing the energy spent by the robots or the time for achieving the task, havebeen investigated. These strategies have better efficiency in completing the formation, since they use the clustermatching algorithm instead of the triangulation algorithm.