Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
The many faces of publish/subscribe
ACM Computing Surveys (CSUR)
Distributed, Physics-Based Control of Swarms of Vehicles
Autonomous Robots
The Contract Net Protocol: High-Level Communication and Control in a Distributed Problem Solver
IEEE Transactions on Computers
The impact of communication and terrain characteristics on the accuracy of robot formation
Proceedings of the 1st International Conference on Wireless Technologies for Humanitarian Relief
Fault-Tolerant Formation Driving Mechanism Designed for Heterogeneous MAVs-UGVs Groups
Journal of Intelligent and Robotic Systems
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The goal of a robot formation control architecture is to get a number of robots into a specified form. To be effective and practical, the control architecture must be able to transition a group of robots from an initial swarm to a final formation. It must then be able to handle real-world events that could disrupt the formation, thus, requiring formation repair, obstacle avoidance, and changes in the formation. In previous work, we presented a distributed, reactive cellular automatabased formation control architecture capable of controlling any number of robots in formation at once. In this paper, we examine our architecture with respect to necessary characteristics to handle real-world occurrences. To address issues of formation repair and obstacle avoidance, the control architecture is extended by a distributed auctioning method that allows the robot formation to reconfigure autonomously.