Abstract：To generate arbitrary shape cooperatively and determine formation-vectors autonomously for multiple mobile robots when multiple mobile robot are to achieve a common task, an autonomous formation vector determination method is first proposed for every agent. Then formation-vector based control algorithm is extended theoretically as so to generate a sort of given arbitrary formation shape and robot motion strategy is improved to reduce convergence time. A quick converging distributed algorithm for generating arbitrary shape of multiple mobile robots is proposed. To prevent the robot from collision, a communication model is presented. The simulation results and the real robot experiments show the feasibility and validity of the algorithm proposed in this paper.
 Ota J,Miyata N,Arai T,Yoshida D,Kurabayashi,Sasaki J.Transferring and regrasping a large object by cooperation of multiple mobile robots.In:Proceeding of 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems,1995,543-548  Yamashita A,Fukuchi M,Ota J,Arai T,and Asama H.Motion planning for cooperative transportation of a large object by multiple mobile robots in a 3d environment.In:Proceedings of IEEE International Conference on Robotics and Automation,2000,3144-3151  Yamaguchi H.A cooperative hunting behavior by mobile-robot troops.The International Junaral of Robotics and Research,1999,20(9):931-940  Yamaguchi H.A cooperative hunting behavior by mobile-robot troops.In:Proceedings of the 1998 IEEE International Conference On Robotics and Automation,Washington,DC IEEE,1998,3204-3209  M Erdmann,T Lozano-Perez.On Multiple Moving Objects.Proc.1986 IEEE Int Conf On Robotics and Automation,1986:1419-1424  Jong-Hwan Kim.Third Call for Participation:Micro-robot World Cup Soccer Tournament 1996 (MiroSot'96).Accessible from http://vivaldi.kaist.ac.kr.  Hiroaki Kitano,Minoru Asada,Yasuo Kuniyoshi,Itsuki Noda.Eiichi Osawa.RoboCup:The Robot World Cup Initiative.In IJCAI-95 Workshop on Enter-tainment and AI/Alife,Montreal,Quebec,August 1995