Formation Deployment of Hybrid Control Search Algorithm for Multi-robot in Two-Dimensional Space

In order to deploy multi-robot into a 2-D desired formation during the seeking process, this paper proposes a hybrid seeking algorithm with the formation deployment. Firstly, this paper expands the 1-D deployment algorithm to 2-D, and then combines with the extreme seeking algorithm to obtain the hybrid seeking algorithm. With the algorithm, multi-robot can deploy into a desired 2-D formation during seeking process. Simulation results are provided to illustrate the effectiveness of the algorithm.