Abstract
In swarm robotics, one of the important purposes to be required is to deploy robots to desirable formation. It is proposed several methods which deploy the robots to desirable formation, but there exists no index to measure the degree of convergence to pre-defined formation. Considering from practical viewpoint, to observe the motion of swarm robots, it is important to measure how robots are close to target formation. So, in this paper, assuming the case robots form an equilateral triangle formation, we introduce new evaluation indices which measure the degree of convergence of robot to pre-defined formation quantitatively, and show its validity.
