Dynamic robot formations using directional visual perception

Recent research projects have demonstrated that it is possible to make robots move in formation. The approaches di er by the various assumptions about what can be perceived and communicated by the robots, the strategies used to make the robots move in formation, the ability to deal with obstacle and to switch formations. After suggesting criteria to characterize problems associated with robot formations, this paper presents a distributed approach based on directional visual perception and inter-robot communication. Using a pan camera head, sonar readings and wireless communication, we demonstrate that robots are not only able to move in formation, avoid obstacles and switch formations, but also initialize and determine by themselves their positions in the formation. Validation of our work is done in simulation and with Pioneer 2 robots.