Small-Scale Robot Formation Movement Using a Simple On-Board Relative Positioning System

We explore the problem of smallscale multirobot formation control using only an unsophisticated onboard relative positioning module. The robotic setup and module are implemented and tested in a realistic virtual simulator, using standard formation types and algorithms, with and without radio communication. The experiments and results are then replicated using the real robotic platform. Finally, the simulation environment is used to assess the impact of potential improvements in the relative positioning module, and the significance and outlook of the system are discussed.