Gabriel Rodrigues de Campos, Dimos V. Dimarogonas, Alexandre Seuret, Karl H. Johansson; Distributed control of compact formations for multi-robot swarms. IMA J Math Control Info 2017 dnw073. doi: 10.1093/imamci/dnw073
This article proposes a distributed algorithm for the compact deployment of robots, using both distance- and angular-based arguments in the controllers’ design. Our objective is to achieve a configuration maximizing the coverage of the environment while increasing the graph’s connectivity. First, we provide: (i) a dispersion protocol guaranteeing connectivity maintenance; and (ii) a compactness controller with static and variable control gains that minimizes the inter-agent angles. Second, we present a sequential, multi-stage strategy and analyse its stability. Finally, we validate our theoretical results with simulations, where a group of robots are deployed to carry out sensing or communication tasks.