A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2014; you can also visit the original URL.
The file type is
Springer Tracts in Advanced Robotics
We consider the problem of changing smoothly between formations of spatially deployed multi-robot systems. The algorithm presented in this paper addresses scenarios in which gradual and seamless formation transitions are needed, a problem which we term formation morphing. We show that this can be achieved by routing agents on a Euclidean graph that corresponds to paths computed onand projected from-an underlying three-dimensional matching graph. The threedimensional matching graph isdoi:10.1007/978-3-642-55146-8_21 fatcat:56txsbxtj5f3jeldcpty5as2bu