A Self-organized Shape Formation Method for Swarm Controlling

This paper presents a new approach for the shape formation based on the artificial method. It refers to the basic concept in the swarm intelligence: complex behaviors of the swarm can be formed with simple rules designed in the agents. In the framework, the distance image is used to generate not only an attraction field to keep all the agents in the given shape, but also repulsive force field among the agents to make them distribute uniformly. Compared to the traditional methods based on centralized control, the algorithm has properties of distributed and simple computation, convergence and robustness, which is very suitable for the swarm robots in the real world considering the limitation of communication, collision avoidance and calculation problems. We also show that some initial sensitive method can be improved in the similar way. The simulation results prove the proposed approach is suitable for convex. non-convex and line shapes.