Abstract Pattern formation for multi-robot systems has received increasing attention in different scenarios. However, existing methods cannot efficiently optimize pattern formation in the obstacle environment. To address this limitation, this paper proposes a new planning method that assigns the optimal goals to the robots and iteratively computes collision-free paths to reach goal positions. Firstly, according to the random initial position of the group robot and the arbitrary shape, convex quadratic programming is used to minimize the distance to obtain the optimal pattern parameters under certain constraints. Secondly, the iterative controller plans the collision-free path of each robot to the goal considering a preferred velocity. Simulation results verified the effectiveness of the proposed methodology for scenarios of letter formation, in comparison to a commonly-used method.

中文翻译：

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障碍环境下多机器人模式形成的迭代优化方法

摘要 多机器人系统的模式形成在不同场景中受到越来越多的关注。然而，现有的方法不能有效地优化障碍环境中的模式形成。为了解决这个限制，本文提出了一种新的规划方法，为机器人分配最佳目标并迭代计算无碰撞路径以到达目标位置。首先，根据群机器人的随机初始位置和任意形状，采用凸二次规划最小化距离，得到一定约束下的最优模式参数。其次，迭代控制器在考虑首选速度的情况下规划每个机器人到目标的无碰撞路径。仿真结果验证了所提出的方法对字母形成场景的有效性，