Behavior-based formation control for multirobot teams

New reactive behaviors that implement formations in multirobot teams are pr esented and evaluated. The formation behaviors are integrated with other na vigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are imp lemented in simulation, an robots in the laboratory and aboard DARPA's HMMW V-based Unmanned Ground vehicles. The technique has been integrated with th e Autonomous Robot Architecture (AuRA) and the UGV Demo II architecture. Th e results demonstrate the value of various types of formations in autonomou s, human-led and communications-restricted applications, and their appropri ateness in different types of task environments.