Adaptive Group Formation in Multirobot Systems

Algorithm 1

Assigning leadership.

 Input: Agents in a system

 Output: Assigned Leader of the system

(1) Assign the Leadership to any random agent within the

     system;

(2) for  𝑛𝑡ℎ𝐶𝑜𝑢𝑛𝑡𝑒𝑟←1  to  𝑛_𝐴  do

(3)  Assign a candidate leader to the nthCounter agent

   in the system;

(4) Compute the 𝑂𝑏𝑗𝑒𝑐𝑡𝑖𝑣𝑒𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 of the candidate

   leader;

(5)  if  current leader 𝑂𝑏𝑗𝑒𝑐𝑡𝑖𝑣𝑒𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 <  candidate

    leader 𝑂𝑏𝑗𝑒𝑐𝑡𝑖𝑣𝑒𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛  then

(6)    Assign the candidate leader to be the current

            leader;