Distributed Pattern Formation by Autonomous Robot Swarm

Abstract

Arbitrary Pattern Formation is a fundamental robot coordination problem. The problem asks for a distributed algorithm that allows a swarm of autonomous mobile robots to form any pattern given as input. The majority of the works in the literature investigate the problem under models with very idealistic assumptions regarding motion and sensing capabilities of the robots. We investigate the problem, aiming towards removing these assumptions and understanding their effect on the solvability of the problem.