A Classification-Based Search Method for Generating Large-Scale Robot Formation
【摘要】：Formation control is a significant issue in multi-robot systems and formation generating is the first step to attain a desired formation. This paper develops a classification-based search method to solve arbitrary formation generating problems for large-scale robot teams, where the number of the robots team will be hundreds or even thousands. In order to avoid global scope search and reduce the computation complexity of the assignment process, we divide the workspace into square cells and classify the robots into 3 different catego- ries. Then several groups of simulated experiments are carried out with hundreds of robots. The experimental results demonstrate the success of the proposed approach.