# Distributed Planning for Rigid Robot Formations using Consensus on the Transformation of a Base Configuration

arXiv: https://arxiv.org/abs/2307.07326 · HTML: https://mlsanity.com/paper/2307.07326/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Jul 2023.

## Built on by (most cited first, 1 of 1)

- [PRISM: Complete Online Decentralized Multi-Agent Pathfinding with Rapid Information Sharing using Motion Constraints](https://mlsanity.com/paper/2505.08025/) (2025)

## Abstract (arXiv)

This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find feasible formation parameters that guarantees formation constraints for rigid formations. The method proves to be computationally efficient, making it relevant for reactive planning and control of multi-robot systems formation. The method has been tested in a simulation environment to prove feasibility and run-time efficiency.