Adaptive Group Formation in Multirobot Systems

Algorithm 3

Adaptive formation switching.

 Input: Agent, Current Formation, and map

 Output: Agents' new position

(1) call Assigning leader as in Algorithm 1;

(2) call Position Assignment {Line Formation} as in

   Algorithm 2;

(3) while  obstacle not passed do

(4)   Agents continue moving;

(5) call Position Assignment {Current Formation} as in

   Algorithm 2;