Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
breve: a 3D environment for the simulation of decentralized systems and artificial life
ICAL 2003 Proceedings of the eighth international conference on Artificial life
Behavior-Based Coordination of Large-Scale Robot Formations
ICMAS '00 Proceedings of the Fourth International Conference on MultiAgent Systems (ICMAS-2000)
Distributed, Physics-Based Control of Swarms of Vehicles
Autonomous Robots
Journal of Intelligent and Robotic Systems
A Decentralized and Adaptive Flocking Algorithm for Autonomous Mobile Robots
GPC-WORKSHOPS '08 Proceedings of the 2008 The 3rd International Conference on Grid and Pervasive Computing - Workshops
Collective perception in a robot swarm
SAB'06 Proceedings of the 2nd international conference on Swarm robotics
Swarm robotics: from sources of inspiration to domains of application
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
An overview of physicomimetics
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
Decentralized Control for Swarm Flocking in 3D Space
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Swarm robot flocking: an empirical study
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
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This paper presents, a novel decentralized control strategy, named Triangular Formation Algorithm (TFA), for a swarm of simple robots. The TFA is a local interaction strategy which basically makes three neighboring robots to form a regular triangular lattice. This strategy requires minimal conditions for robots and it can be easily realized with real robots. The TFA is executed by every member of the swarm asynchronously. For swarm obstacle avoidance, a simplified artificial physical model is introduced to work with the TFA. Simulation results showed that the global behaviors of swarm such as aggregation, flocking and obstacle avoidance in an unknown environment can be achieved using the TFA and obstacle avoidance mechanism.