Adaptive Group Formation in Multirobot Systems

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="692658.fig.0023a" src="https://static.hindawi.com/articles/aai/volume-2013/692658/figures/692658.fig.0023a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Initial position</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="692658.fig.0023b" src="https://static.hindawi.com/articles/aai/volume-2013/692658/figures/692658.fig.0023b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Orienting</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="692658.fig.0023c" src="https://static.hindawi.com/articles/aai/volume-2013/692658/figures/692658.fig.0023c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>State 1 achieved</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="692658.fig.0023d" src="https://static.hindawi.com/articles/aai/volume-2013/692658/figures/692658.fig.0023d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Line formation</td></tr></table></td></tr><tr class="fig-image" id="e"><td><img alt="692658.fig.0023e" src="https://static.hindawi.com/articles/aai/volume-2013/692658/figures/692658.fig.0023e.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(e) </b>Switching formation</td></tr></table></td></tr><tr class="fig-image" id="f"><td><img alt="692658.fig.0023f" src="https://static.hindawi.com/articles/aai/volume-2013/692658/figures/692658.fig.0023f.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(f) </b>Final position</td></tr></table></td></tr></table>

<table>Switching formation scenario.</table>

Advances in Artificial Intelligence

fig23

Figure 23

Figure 23: Adaptive Group Formation in Multirobot Systems 