Navarro, InakiPugh, JimMartinoli, AlcherioMatia, Fernando2009-01-152009-01-152009-01-152008https://infoscience.epfl.ch/handle/20.500.14299/33675A new algorithm for the control of formations of mobile robots is presented. Formations with a triangular lattice structure are created using distributed control rules, using only local information on each robot. The overall direction of movement of the formation is not pre-established but rather results from local interactions, giving all the robots a common, self-organized heading. Experiments were done to test the algorithm, yielding results in which robots behaved as expected, moving at a reasonable speed and maintaining the desired distances among themselves. Up to seven robots were used in real experiments and up to forty in simulation.multi-robot systemsformation controltext::conference output::conference proceedings::conference paper