IRIDIA - Supplementary Information (ISSN: 2684-2041)

Supplementary material for the paper:

Formation Control of UAVs and Mobile Robots using Self-organized Communication Topologies

Weixu Zhu, Michael Allwright, Mary Katherine Heinrich, Sinan Oğuz, Anders Lyhne Christensen, and Marco Dorigo (May 2020)

Table of Contents
  1. Abstract
  2. Statistical data
  3. Videos


Formation control in a robot swarm targets the overall swarm shape and relative positions of individual robots during navigation. Existing approaches typically depend on a global reference or a predefined static communication topology. We propose a novel approach without these constraints, by extending the concept of `mergeable nervous systems' to establish distributed asymmetric control via a self-organized wireless communication network. In simulated experiments with UAVs and mobile robots, we demonstrate our approach for four sub-tasks of formation control: formation establishment, maintenance during motion, deformation, and splitting and merging. We also demonstrate usage with time-and-position cooperative and reactive motion planning, and assess the fault tolerance and scalability of our approach.

Statistical data

All the code and data is available on github :,


The following video is about 30M, click to download

The video is also available on Google Drive