A forming algorithm and its position estimation for triangle-based robot formation

Tatsuya Kato, Keigo Watanabe, Shoichi Maeyama, Maki K. Habib

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


Robot formation is useful for multi-robot systems. However, when robots have different ability in function, their positions significantly affect the working efficiency. Therefore, it needs to assign the position of heterogeneous robots in formation. This paper describes an imaginary equilateral triangle (IET) algorithm that can allocate each robot on a desired position in a swarm without using global coordinate. The IET algorithm forms the swarm by making some equilateral triangles, one of which consists of one pair of two robots to be a reference base and one single robot to be an apex. Through some simulation experiments, the convergence of some formations based on the IET algorithm is confirmed and the convergence time is also evaluated. Furthermore, we test the translational and rotational movements in formation. Alternatively, the method needs a system that obtains the ID and relative position of the robots. This paper describes how to construct the measurement system using wireless communication and ultrasonic sound, and evaluate it through some simulation experiments.

Original languageEnglish
Pages (from-to)38-56
Number of pages19
JournalInternational Journal of Mechatronics and Manufacturing Systems
Issue number1
Publication statusPublished - 2013


  • Heterogeneous robots
  • Multi robot system
  • Robot formation
  • Swarm robot
  • Ultrasonic sensor
  • Wireless communication

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'A forming algorithm and its position estimation for triangle-based robot formation'. Together they form a unique fingerprint.

Cite this