Adaptive Group Formation in Multirobot Systems

Algorithm 2

Position assignment (Desired formation).

 Input: Agent and Desired Formation

 Output: End position

(1) if  Agent ==  Leader  then

(2)  End position = Current position;

(3)  Assigned position = Current position;

(4)  for  corner ←1  to  𝑛_𝐿  do

(5)   for  𝑛𝑡ℎ𝐶𝑜𝑢𝑛𝑡𝑒𝑟←2  to  𝑛_𝐴  do

(6)    𝐴𝑔𝑒𝑛𝑡_{𝑛𝑡ℎ𝐶𝑜𝑢𝑛𝑡𝑒𝑟} End position → Assigned

        position + (𝑑_𝐴×𝑛𝑡ℎ𝐶𝑜𝑢𝑛𝑡𝑒𝑟)

(7)   Assigned position = Assigned position + 𝑑_𝐶

  else

(8)  Get End position from 𝐿𝑒𝑎𝑑𝑒𝑟.