Landmark-Guided Shape Formation by a Swarm of Robots

  • Andrew VardyEmail author
Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 9)


We consider the problem of robots forming two-dimensional shapes in the plane by moving objects inward toward a set of landmarks. These landmarks serve as the user’s specification of the desired shape. Potential applications include cleaning, construction and entertainment. We are inspired by work in swarm robotics where relatively simple robots gather objects into a cluster. In our case, the robots and algorithm are admittedly more complex, yet we gain the ability to shape that cluster of objects into a more useful form. One of our main goals is to facilitate an orderly flow of robot motion around the constructed shape, such that interference between robots is reduced. We present results using an accurate simulation of our laboratory environment, as well as one run executed on a physical robot which helps to validate results from the simulation.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Department of Computer Science/Department of Electrical and Computer EngineeringMemorial University of NewfoundlandSt. John’sCanada

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