V-shaped formation control for robotic swarms constrained by field of view

By forming a specific formation during motion, the robotic swarm is a good candidate for unknown region exploration applications. The members of this kind of system are generally low complexity, which limits the communication and perception capacities of the agents. How to merge to the desired formation under those constraints is essential for performing relevant tasks. In this paper, a limited visual field constrained formation control strategy inspired by flying geese coordinated motion is introduced. Usually, they flock together in a V-shape formations, which is a well-studied phenomenon in biology and bionics. This paper illustrates the proposed methods by taking the research results from the above subjects and mapping them from the swarm engineering point of view. The formation control is achieved by applying a behavior-based formation forming method with the finite state machine while considering anti-collision and obstacle avoidance. Furthermore, a cascade leader-follower structure is adopted to achieve the large-scale formations. The simulation results from several scenarios indicate the presented method is robust with high scalability and flexibility.