Real-time algorithmic formation maintenance, obstacle negotiation, and tactical wedge/column geometric transformations in ground vehicle swarms.
Fleet members treat neighboring robots as virtual physical nodes connected by non-linear spring-damper equations. This formulation enforces safe inter-vehicle standoff distances while naturally accommodating terrain choke points like narrow defiles or tree corridors.
Upon detecting incoming obstacles or threat axes, the formation automatically morphs from an expansive perimeter screen into an interleaved convoy column, preserving forward momentum without requiring explicit operator intervention.