抄録
This paper describes the IET(Imaginary Equilateral Triangle) algorithm which can allocate each robot on the desired position in the swarm without global coordinate. The IET algorithm forms the swarm by making the equilateral triangles with the neighbors specified by vector. Through some simulation experiments, the convergence to the formation by the IET algorithm is confirmed and the convergence time is also evaluated. Furthermore, we tested the parallel and rotational movement of the formation.
