Autonomous Shape Formation and Morphing in a Dynamic Environment by a Swarm of Robots: Extended Abstract.

We present an algorithm by which a swarm of unicycle robots can simultaneously fill multiple planar solid polygonal shapes and also morph between different shapes. By decomposing the desired shape into triangles and defining formation points that lie on each triangle, the robots fill the shape using a divide-and-conquer strategy. Each robot is equipped with limited range and bearing sensors that are used for localized communication and for collision avoidance. The proposed algorithm also allows the swarm to operate in and adapt to dynamic environments, for example, while navigating through narrow passages or avoiding dynamic obstacles. The algorithm is designed to prevent oscillatory behaviour and deadlocks while enabling collision avoidance. We demonstrate the effectiveness of the algorithm through simulations using the iRobot Create mobile robots.