Decentralized Shape Formation Algorithm for Kilobots | Swarm Robotics Explained

In this video, we explain a decentralized shape formation algorithm for kilobots, a fascinating example of swarm robotics in action. You’ll learn how kilobots use motion and communication to coordinate, how the star–planet orbiting system works, and how robots build complex structures using simple local rules. We demonstrate how kilobots form a rectangle step by step, starting with guide robots and builder robots, and explain how error tolerance (epsilon margin) and optimization-based localization impact shape formation accuracy. This video is perfect for anyone interested in robotics, distributed algorithms, multi-agent systems, and collective intelligence. You can read the details along with documentation of the project on https://soln.tech/blog/shape_formation_using_kilobots 00:00 Overview of shape formation 00:12 Kilobot motion and communication basics 00:44 Star–planet orbiting algorithm 01:46 Shape formation algorithm 02:47 Rectangle shape formation example 04:28 Algorithm