Controlling robot formations by means of spatial reasoning based on rough mereology

This research focuses on controlling robots and their formations using rough mereology as a means for spatial reasoning. The authors present the state of the art theory behind path planning, robot cooperation domains and ways of creating robot formations. Furthermore, the theory behind Rough Mereology as a way of implementing mereological potential field based path creation and navigation for single and multiple robots is described. An implementation of the algorithm is shown in simulation using RoboSim simulator. Five formations are tested (Line, Rhomboid, Snake, Circle, Cross) along with three decision systems (First In, Leader First, Horde Mode) as compared to other methods.