The main objective for this research is to design an economical and robust swarm system to achieve formation control. The system combines swarm intelligence with centroidal Voronoi tessellations (CVT) to create desired static and dynamic formations. This paper also analyzes the affect of initial starting positions and robot number on formation performance. Experiments are conducted both in simulation and on an actual mobile robot platform which show the flexible and robust nature of CVTs over other formation control algorithms.

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