Navigation and Formation Control of a Tracked Robot Swarm for Firefighting Missions

In this paper, potential functions are used to construct a swarm of tracked robots intended to be used for firefighting missions. Potential functions form attraction and repulsion forces among the swarm elements that balance when the swarm forms a predefined geometrical formation. Potential functions are also used to add repulsive properties to the obstacles in the environment to ensure safe navigation of the swarm. The location of the fire is finally updated with attractive potential function that makes the swarm navigates towards the flames. MATLAB simulation results emphasize the performance of the robot swarm in different firefighting mission scenarios.