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Repository Details
This project describes the work on multi-robot pattern formation on any kind of arbitrary target patterns with the help of optimal robot deployment, using a method that is independent of the number of robots with having utilized the least possible resources necessary to achieve the desired goal of non-intersecting pattern or design formation. Generation of uniform sets of goal positions, allocation of the multi-robots on the respective goal assignments having optimal path and fast convergence into consideration and finally smooth deployment of robots to avoid collisions using distributed collision avoidance methods to consequently provide a representative set of desired patterns. In this method, the trajectories are visually appealing in the sense of being smooth, oscillation free, and showing fast convergence having used the reliable positioning and assignment algorithms to generate both visually and convincing final pattern formation by optimizing the robots’ goal positions as well as simple and smooth robot motions at the transitions of patterns
