Advances in Artificial Intelligence / 2013 / Article / Alg 2

Research Article

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   to     do
(5)   for     to     do
(6)     End position Assigned
        position + ( )
(7)   Assigned position Assigned position +
(8)  Get End position from .

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