An Adaptive Pattern Formation Approach for Swarm Robots

This paper addresses a new adaptive algorithm for pattern formation problem in swarm robotics. The swarm performs a circle formation behavior autonomously, regardless of the size of the swarm. This algorithm enables an adaptive behavior to allow the swarm to both prevent collision and compose a specific formation of robots in particularly cluttered environments. The formation algorithm is integrated into a decentralized navigation system and tested in a 3-D robotic simulator. The results are encouraging and motivate authors' to perform further research with this algorithm.