A Hormone Inspired Multi-Robot Formation Algorithm

Endocrine system is one of the most important control systems of human body. It cooperates with neural system and immune system to maintain homeostasis of human body. Endocrine system modulates human body by a substance called hormone. It contains substantial information processing algorithms in hormone's working mechanism. Inspired by biological hormone, this paper proposes an algorithm used in formation problem in multi-robot system. This algorithm can help multi-robot system adapt to dynamic environment and form various kinds of shapes. Simulated experiments prove correctness and effectiveness of the algorithm.