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Published on May 6, 2011
15 Khepera robots executing an assignment and formation control algorithm developed by Edward Macdonald for his Master's thesis at Georgia Tech.
Initially, the formation translation and rotation is unknown, nor do the robots know to what role they are assigned in the formation. The goal of the algorithm is to have a network of mobile robots build formations while minimizing the total distance traveled by all robots. The only information available to each robot are the relative positions of all other robots. There is no communication between robots. Since each robot has access to the same information (relative positions between robots), they independently come to the same conclusion.
Robots know their position via an overhead camera system that tracks each robot and broadcasts its position over wifi.