Abstract—In this study, we present a dynamic robotic formation control algorithm designed to manage multiple nodes of robots that alternate activity in a coordinated manner. The approach leverages a combination of alternating activation, formation maintenance, and collision detection mechanisms to ensure robust performance in environments with multiple robotic units. Specifically, the algorithm activates different nodes of robots in a predefined sequence, allowing them to take turns executing tasks while maintaining a stable formation. Each robot in the active node computes its direction based on a potential field method, balancing attractive and repulsive forces to maintain desired distances from other robots and stationary points. Additionally, our algorithm integrates collision detection to prevent overlap and ensure safe movement of the robots. This framework was implemented and tested in a simulated environment, demonstrating its effectiveness in maintaining formations and preventing collisions. Our results highlight the potential of the proposed method for applications in autonomous multi-robot systems, such as search and rescue, environmental monitoring, and warehouse automation.

Keywords—dynamic robot formation, multi-robot system, collision detection, formation algorithm, autonomous robots, alternating activation, simulation

Cite: Le Minh Triet and Nguyen Truong Thinh, "Formation Control of Mobile Robots Using a Beacon-Based Algorithm with Alternating Node Activation," International Journal of Mechanical Engineering and Robotics Research, Vol. 14, No. 2, pp. 212-228, 2025. doi: 10.18178/ijmerr.14.2.212-228

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