Multirobot systems (MRSs) are capable of solving task complexity, increasing performance in terms of maximizing spatial/\r\ntemporal/radio coverage or minimizing mission completion time. They are also more reliable than single-robot systems\r\nas robustness is increased through redundancy. Many applications such as rescue, reconnaissance, and surveillance and\r\ncommunication relaying require the MRS to be able to self-organize the team members in a decentralized way. Group formation is\r\none of the benchmark problems in MRS to study self-organization in these systems. This paper presents a hybrid approach to group\r\nformation problem in multi-robot systems. This approach combines the efficiency of the cellular automata as finite state machine,\r\nthe interconnectivity of the virtual grid and its bonding technique, and last but not least the decentralization of the adaptive dynamic\r\nleadership.
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