Adaptive lattice deployment of robot swarms based on local triangular interactions

This paper addresses the adaptively latticed deployment problem for a swarm of autonomous mobile robots. As our decentralized solution, an adaptive triangle generation algorithm is proposed to allow individual robots to form different equilateral triangular configurations depending on their local distributions. Specifically, Delaunay triangulation is applied to examine a local distribution composed of triangles generated around each robot. From the computation of the local distribution, each robot determines an adequate side length and enables to form an equilateral triangle with the side length. In addition, two convergence conditions are considered according to the controlling way of the side length. By using the proposed algorithm, robot swarms can self-configure themselves while adapting to their distribution conditions. Through extensive simulations, we verify the effectiveness of the proposed algorithm.