Multi-Robot Formations based on the Queue-Formation Scheme with Limited

Communications

• Division of information flow into fast and slow time scales, reducing communications load

• Dynamic target determination algorithm based on Q-structure for better scaling compared to original scheme

• Convergence & stability studies for the system

C. Fua1, S. S. Ge1, K. D. Do2, K. W. Lim3 1National University of Singapore, 2University of Western Australia,

3Singapore Institute of Manufacturing Technology

Defining the appearance of formations using queues & queue

vertices (circles)