Swarm Robots Circle Formation via a Virtual Viscoelastic Control Model

We report a swarm robots circle formation control model that is based on intra virtual viscoelastic connectivity between the neighbors. The model can dynamically form a uniform circle using only the distance estimation among the neighbors, the model is fully decentralized and scalable by which a circle can be dynamically formed whatever the number of the robots being implicated. Based on the equilibrium of the virtual viscoelastic forces exerted on the robots, the model could positions the robots at equal angular ranges on the circle boundary with or without positioning a robot at the center of the formed circle. A virtual viscoelastic based circle formation control model is developed, implemented and evaluated using the ARGoS simulator.