Formation Control of UAVs and Mobile Robots Using Self-organized Communication Topologies

Weixu Zhu*, Michael Allwright, Mary Katherine Heinrich, Sinan Oğuz, Anders Lyhne Christensen, Marco Dorigo

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


Formation control in a robot swarm targets the overall swarm shape and relative positions of individual robots during navigation. Existing approaches often use a global reference or have limited topology flexibility. We propose a novel approach without these constraints, by extending the concept of ‘mergeable nervous systems’ to establish distributed asymmetric control via a self-organized wireless communication network. In simulated experiments with UAVs and mobile robots, we present a proof-of-concept for three sub-tasks of formation control: formation establishment, maintenance during motion, and deformation. We also assess the fault tolerance and scalability of our approach.

Original languageEnglish
Title of host publicationSwarm Intelligence : 12th International Conference, ANTS 2020, Proceedings
EditorsMarco Dorigo, Thomas Stützle, Maria J. Blesa, Christian Blum, Heiko Hamann, Mary Katherine Heinrich, Volker Strobel
Publication date2020
ISBN (Print)9783030603755
ISBN (Electronic)978-3-030-60376-2
Publication statusPublished - 2020
Event12th International Conference on Swarm Intelligence, ANTS 2020 - Barcelona, Spain
Duration: 26. Oct 202028. Oct 2020


Conference12th International Conference on Swarm Intelligence, ANTS 2020
SeriesLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume12421 LNCS


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