Region-based shape control for multi-robot systems by Hou, Paul Saing.

“…Therefore, as the number of robots increases, it becomes more difficult to specify the positions for all the robots. Hence, the existing control methods are not suitable to control a large group of robots to form a specific shape. …”
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Cooperative collision avoidance in multirobot systems using fuzzy rules and velocity obstacles by Tang, Wenbing, Zhou, Yuan, Zhang, Tianwei, Liu, Yang, Liu, Jing, Ding, Zuohua

“…Moreover, they cannot deal with uncertain sensing data and linguistic requirements (e.g., the speed of a robot should not be large when it is near to other robots). Hence, to guarantee real-time collision avoidance and deal with linguistic requirements, a distributed and hybrid motion planning method, named Fuzzy-VO, is proposed for multirobot systems. …”
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