Formations using De-RANSAC
Ten robots with limited communications must be uniformly distributed on a circle. The least squares solution to the initial positions (black dotted circle) would make the robots collide with each other. The red-dashed circumference is the most voted hypothesis by the robots, the green circles represent the robots that vote the hypothesis whereas the black circles are the ones that do not vote. A proportional controller has been implemented that makes each robot moving towards a position in its current most voted hypothesis. The controller considers the position of the robot and also the positions of its neighbors in order to distribute the team uniformly in the circumference.
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