On Grid Distribution Control of Swarm Robots

Swarm robotics is one of the important research directions of multi-robot systems, whose major feature is that the system includes many robots. How to control swarm-robot system is a challenging problem. Grid distribution means that a lot of robots distribute averagely in an area when they are demanded. We analyses a principle and method that based on artificial physics, we also put forward some performance judgment parameters (such as stabilization time, collision times, overlay rate, connection number, cluster number, distributing density and so on); Meanwhile, we extend the virtual force model to use curve-fitting method. The result of the experiment shows that this method can accomplish the grid distributing control robustly and efficiently in a complicated environment. At last, the directions of further research are proposed.