Heuristic shape formation algorithm in swarm robots based on group auction

The shape formation refers to forming a special shape by controlling the movement of the swarm robots. The problem of shape formation in swarm robots can often be reduced to two sub-problems: the task allocation and the path planning between the robots and the targets. According to the characteristics of large-scale, easy congestion and collision in the shape formation problem, the optimized grouping auction and distributed interaction (OGADI) algorithm is proposed to shorten the completion time of the task. The OGADI algorithm is compared with the shortest path set induced vertex ordering algorithm. The results show that the average completion time of the OGADI algorithm on a scale of 500, 1000, 1300 swarm robots are shortened by 16.1%, 13.6%, and 14.4%, respectively. Some simulation results verify the effectiveness of the proposed method in this paper.