基于动态密度引导的多机器人编队队形变换方法
曹凯, 陈阳泉, 李康, 陈超波, 阎坤, 刘伟超

Dynamic Density-Guided Method for Multi-Robot Formation Transformation
CAO Kai, CHEN Yangquan, LI Kang, CHEN Chaobo, YAN Kun, LIU Weichao
图20 直线形编队切换环形编队
Fig.20 Switching from linear formation to circular formation