A Study of Geometric Pattern Formation by Multiple Mobile Robots

Computer Science

We developed and implemented multi-robot coordination algorithms in this paper to solve problems such as geometric pattern creation, online terrain coverage, and load balanced job breakdown and allocation. We have shown that a well-coordinated robot team produces superior results by effectively using the system's available resources, namely the robots. The creation of geometric patterns using numerous mobile robots is the first issue addressed in this thesis. The uniform circle creation issue, in particular, has gotten a lot of attention. STATE is a decentralized method for uniform circle construction utilizing several mobile robots that we developed and implemented. On our multi-robot test-bed, one of the benchmark algorithms provided by Défago and Konagaya is re-implemented. The STATE algorithm outperforms the Défago and Konagaya algorithms in terms of performance. The STATE method outperforms the others because of its order-preserving scheduling strategy for multi-robot synchronization. The Défago and Konagaya method, on the other hand, employs a probabilistic scheduling strategy for multi-robot synchronization, which results in a higher number of activation steps and a longer time for the algorithm to reach convergence.

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