Positioning of Geometric Formations in Swarm Robotics

Nowadays, swarm robotics is presented as a solution for the collaboration between agents whose goal is the resolution of a common objective. One of the major challenges involved in the design of these algorithms is that they are expected to be distributed, scalable and fault tolerant. In this paper, we present an algorithm that, from random positions, gathers all the agents in an established geometric formation. This common formation is a preliminary step to teamwork and to achieve a common objective. The presented algorithm is distributed, scalable and fault tolerant.