Multi-robot system for artistic pattern formation

This paper describes work on multi-robot pattern formation. Arbitrary target patterns are represented with an optimal robot deployment, using a method that is independent of the number of robots. Furthermore, the trajectories are visually appealing in the sense of being smooth, oscillation free, and showing fast convergence. A distributed controller guarantees collision free trajectories while taking into account the kinematics of differentially driven robots. Experimental results are provided for a representative set of patterns, for a swarm of up to ten physical robots, and for fifty virtual robots in simulation.

Authors

• Javier Alonso-Mora
• Andreas Breitenmoser
• Martin Rufli
• Roland Siegwart
• Paul A. Beardsley

Keywords

• Collision avoidance
• Robot kinematics
• Robot sensing systems
• Pattern formation
• Trajectory
• Convergence
• Multi-agent Systems
• Faster Convergence
• Target Pattern
• Simulated Robot
• Arbitrary Patterns
• Maximum Speed
• Current Position
• Tracking Error
• Particle Position
• Voronoi Diagram
• Distributed Algorithm
• Position Of The Robot
• Smooth Trajectory
• Convex Objective
• Optimal Assignment
• Goal Position
• Set Of Velocities
• Intermediate Frames