@InProceedings{cheng05a,
  author =	 {Jimming Cheng and Winston Cheng and Radhika Nagpal},
  title =	 {Robust and Self-Repairing Formation Control for
                  Swarms of Mobile Agents},
  booktitle =	 {Proceedings of the Twentieth National Conference on
                  Artificial Intelligence},
  pages =	 {59--64},
  year =	 2005,
  address =	 {Menlo Park, California},
  publisher =	 {{AAAI} Press},
  abstract =	 {We describe a decentralized algorithm for
                  coordinating a swarm of identically-programmed
                  mobile agents to spatially self-aggregate into
                  arbitrary shapes using only local interactions. Our
                  approach, called SHAPEBUGS, generates a consensus
                  coordinate system by agents continually performing
                  local trilaterations, and achieves shape formation
                  by simultaneously allowing agents to disperse within
                  the defined 2D shape using a Contained Gas
                  Model. This approach has several novel features (1)
                  agents can easily aggregate into arbitrary
                  user-specified shapes, using a formation process
                  that is independent of the number of agents (2) the
                  system automatically adapts to influx and death of
                  agents, as well as accidental displacement. We show
                  that the consensus coordinate system is robust and
                  provides reasonable accuracy in the face of
                  significant sensor and movement error.},
  keywords =     {multiagent biology},
  url =		 {http://jmvidal.cse.sc.edu/library/cheng05a.pdf},
  cluster = 	 {8409370682113667014}
}