Formation control of multiple autonomous agents or a swarm of robots have become popular in robotics. Formation control is to maintain specific connections among multiple autonomous robots while performing tasks such as traversing trajectories, exploring environments, or covering spaces. We assume that robots are virtually connected by Delaunay triangulation, which is a general form of acute an...

Target search and trapping using self-organized swarm robots have received increasing attention in recent years but control design of these systems remains a challenge. In this paper, we propose a decentralized control algorithm of swarm robot for target search and trapping inspired by bacteria chemotaxis. First, a local coordinate system is established according to the initial positions of the...

Human control of vehicle swarms faces a dilemma: an operator must be able to exercise precise control over how amission is executed, but controlling individual vehicles is not scalable. The Proto spatial computing language offers an intermediate representation, where the motion of a swarm is specified as a vector field, which is then approximated by the movement of individual members (Bachrach,...

Formation control of multirobot systems has drawn significant attention in the recent years. This paper presents a potential field control algorithm, navigating a swarm of robots into a predefined 2D shape while avoiding intermember collisions. The algorithm applies in both stationary and moving targets formation. We define the bounded artificial forces in the form of exponential functions, so ...