Assembling Multi-Robots Along a Boundary of a Region with Obstacles—A Performance Upgradation

Assembling is a required preprocessing step for many swarm-based applications. In this paper, we have considered a state-of-the-art assembling algorithm [1] that achieves the assembling of a group of autonomous and asynchronous mobile robots along the left boundary of a bounded rectangular region comprising of opaque horizontal line obstacles. The performance of the algorithm is determined by various parameters, one of such is the number of computational cycles, reducing which is the objective of the proposed algorithm. In comparison with [1], the proposed algorithm reduces the total number of computational cycles as well as the amount of path traversal while ensuring collision-free movements and successful assembling within finite time.