A survey of formation of mobile agents

This paper presents a survey of formation of mobile agents, considering the significant interest in the topic. It is shown that formation problems consist of two sub-problems, i.e. the assignment of the local goals derived from the overall goal to agents and the stabilization of agents to achieve the local goals. Displacement-based and distance-based approaches are summarized and how two sub-problems are addressed in each approach is discussed. Future works in distance-based approach are given.