Adaptive Group Formation in Multirobot Systems

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="692658.fig.0022a" src="https://static.hindawi.com/articles/aai/volume-2013/692658/figures/692658.fig.0022a.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.0022b" src="https://static.hindawi.com/articles/aai/volume-2013/692658/figures/692658.fig.0022b.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.0022c" src="https://static.hindawi.com/articles/aai/volume-2013/692658/figures/692658.fig.0022c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Motion in <svg height="7.9499998" id="M55" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 9.625 7.9499998" width="9.625" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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q0 16 13.5 31.5t28.5 15.5q12 0 17 -11q5 -10 25 -10q22 0 57.5 36t89.5 111l-40 108q-22 58 -36 58q-21 0 -67 -57l-19 20q81 107 125 107q17 0 30 -22t39 -88l22 -55q68 92 108.5 128.5t74.5 36.5q20 0 32.5 -14t12.5 -30z" id="x1D465"></path></g>
</svg></td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="692658.fig.0022d" src="https://static.hindawi.com/articles/aai/volume-2013/692658/figures/692658.fig.0022d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>State 1 achieved</td></tr></table></td></tr><tr class="fig-image" id="e"><td><img alt="692658.fig.0022e" src="https://static.hindawi.com/articles/aai/volume-2013/692658/figures/692658.fig.0022e.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(e) </b>Final position</td></tr></table></td></tr></table>

<table>Rectangle formation scenario.</table>

Advances in Artificial Intelligence

fig22

Figure 22

Figure 22: Adaptive Group Formation in Multirobot Systems 