# Pattern Formation

For a team to collaborate more effectively it is often beneficial for its members to assume a formation. For example, a team of rescuers forming a line to quickly cover an area; a group of ploughs forming a wedge to level terrain. This project’s focus is on the development of bearing-only pattern formation algorithms which do not require robots to be uniquely identifiable to each other (i.e. they are anonymous). The use of anonymous, bearing-only inputs to the algorithm reduces the computational and sensory requirements of the robotic platform running the algorithm. |

**Live Trails:**

DNS algorithm with 4 robots forming a line. The gamma angle is 100 degrees. |

DNS algorithm with 4 robots forming a line. The gamma angle is 115 degrees. |

DNS algorithm with 4 robots forming a line. The gamma angle is 135 degrees. |

DNS algorithm with 4 robots forming a line. The gamma angle is 180 degrees. |

DNS algorithm with 4 robots forming a wedge. The gamma angle is 100 degrees. |

DNS algorithm with 4 robots forming a wedge. The gamma angle is 115 degrees. |

DNS algorithm with 4 robots forming a wedge. The gamma angle is 135 degrees. |

DNS algorithm with 4 robots forming a wedge. The gamma angle is 180 degrees. |

Papers:

(2016): A Bearing-Only Pattern Formation Algorithm for Swarm Robotics. In: Tenth International Conference on Swarm Intelligence (ANTS), (To Appear), 2016. |