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Most of the existing formation algorithms for multiagent systems are fullylabel-specified, i.e., the desired position for each agent in the formation isuniquely determined by its label, which would inevitably make the formationalgorithms vulnerable to agent failures. To address this issue, in this paper,we propose a dynamic leader-follower approach to solving the line marchingproblem for a swarm of planar kinematic robots. In contrast to the existingresults, the desired positions for the robots in the line are not fullylabel-specified, but determined in a dynamic way according to the current stateof the robot swarm. By constantly forming a chain of leader-follower pairs,exact formation can be achieved by pairwise leader-following tracking. Sincethe order of the chain of leader-follower pairs is constantly updated, theproposed algorithm shows strong robustness against robot failures.Comprehensive numerical results are provided to evaluate the performance of theproposed algorithm.

Line Marching Algorithm For Planar Kinematic Swarm Robots: A Dynamic Leader-Follower Approach