A Method for Reorganizing the Shape of a Swarm of Robots with a Commander Moving in a Two-Dimensional System

The paper is about algorithms for reorganizing the mutual position of robots that are part of a swarm of robots moving in a two-dimensional system. The method assumes that one of the robots takes priority and the positioning of the other robots is done taking into account its position. The article describes how the position of individual robots changes when the swarm of robots changes shape. The situation when the number of robots in the swarm changes, for example, due to the failure or loss of one of the robots, is also considered. The paper presents the assumptions of the method used, the mathematical description and the simulations carried out. Simulation results are shown and discussed.