The Research of Size-Based Team-Keeping in Robots Team-Moving

This paper takes considerations of the environmental which spreads some unknown static obstacles and proposes the robots move from a starting point to reach the target point according to the principle of maintaining pre-set size Geometric formation based the size. At the same time, in the actual formation process of moving, we allow the division and integration of the queue in order to achieve the maximum efficiency. During the moving process, the robots should avoid the collision with the unknown obstacles and resolve the deadlock that may occur.