Formations with Decentralized Centroidal Voronoi Tessellation Algorithm

Centroidal Voronoi tessellations (CVTs) have recently attracted attention as a method for generating emergent behavior and swarm intelligence, for instance efficiently locating a source and creating evenly distributed formations. Previous research has focused on a centralized algorithm which depends on a base station computer to perform calculations and give the robotic agents direct movement commands. This research attempts to create an adaptive decentralized procedure for autonomous agents to create formations using CVTs. This decentralized approach will allow swarm systems a greater level of autonomy by removing the dependence on a centralized base station for calculating common agent tasks.