# MeetingMinutes20091104-Formation¶

### Initial formation brainstorming¶

• Secret Service / VIP
• Flying V
• Heterogeneous goals (a la Naval teams)
• Circles
• Dynamic Formations
• Orbiting
• "Push"

### Top three formations to begin thinking about¶

• Easy: Circles
• Medium: Secret Service
• Hard: Dynamic formations

### Pseudo-algorithms¶

• Circles:
• Assume no walls to block circle
• Decide on "Steady state" for system; when is it done?
• Formation starts with clump or robots
• One robot is chose as center "beacon" robot
• When sent a signal, all edge robots turn to face beacon using BOM
• Once facing center, each edge robot moves forward or backward to a predetermined radius using rangefinders
• After reaching correct distance from beacon, edge robot sends signal back to beacon
• Once all edges have communicated end state with beacon, beacon then has control
• Secret Service (Somewhat of an extension of Circles)
• Designated VIP robot stays in one place
• Other robots move to see VIP
• VIP communicates when others are in teh right place
• For movement, other can just copy VIP's movement
• VIP must be slowed or limited to compensate for awkward mobility issues/holonomic problems
• Possible solution: Turn stops
• Must consider what to do when movement packets get dropped
• Possible regrouping states
• Possible order for developing:
• Body guards
• Expand from there
• Dynamic Formations
• Parametrized(or random?) number of groups to split around obstacle
• Split wireless communication
• By packet ID
• By XBEE channel (not optimal)

### Plan of action for next few weeks¶

• 2hr. Implementation of Circles (Monday 11/9)
• Use code from Lab 2 to turn and face using BOM
• Use beacon robot code for beacon
• Code for moving to correct radius is simple
• Need to write: Communications code
• Lemmings
• First robot has smart runaround code
• All other robots have "follow the robot in front of me" code
• Flying V
• Modification of Lemmings with adjusted rangefinder values
• Orbit Circle
• Expand from there