Queues and artificial potential trenches for multirobot formations

In this paper, we present a novel approach for representing formation structures in terms of queues and formation vertices, rather than with nodes, as well as the introduction of the new concept of artificial potential trenches, for effectively controlling the formation of a group of robots. The scheme improves the scalability and flexibility of robot formations when the team size changes, and at the same time, allows formations to adapt to obstacles. Furthermore, for multirobot teams to operate successfully in real and unstructured environments, the instant goal method is used to effectively solve the local minima problem.