A dynamic priority strategy in decentralized motion planning for formation forming of multiple mobile robots

This paper presents a new approach to formation forming of multiple mobile robots with decentralized motion planning. When the robots enter the required formation, there exists the formation-structure constraint, which causes disorder or even deadlock of the formation. A dynamic priority strategy is developed to solve the problem of the formation-structure constraint, and coordinate the robots to form the formation in a proper order. Simulations are performed on a group of mobile robots to demonstrate the validity of the proposed strategy to the formation system.