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In addition, we propose an enhanced load reassignment algorithm to resolve conflicts when using S\u2010DKWTA. The S\u2010DKWTA algorithm demonstrates the capability to manage multiple objectives and dynamically select leaders in real\u2010time, thereby optimising formation efficiency and reducing energy consumption. The proposed approach integrates an enhanced artificial potential field (APF) to govern the motion of heterogeneous robot systems which encompasses both unmanned ground vehicles (UGVs) and unmanned aerial vehicles (UAVs), thereby achieving collision and obstacle avoidance. Simulations employing UGVs and UAVs swarm to achieve formation movement demonstrate the efficacy of this approach. The amalgamation of S\u2010DKWTA and improved APF ensures stable and adaptable formation control, underscoring its potential for diverse multirobot applications.<\/jats:p>","DOI":"10.1049\/cit2.70081","type":"journal-article","created":{"date-parts":[[2025,11,19]],"date-time":"2025-11-19T17:04:41Z","timestamp":1763571881000},"page":"190-204","update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Distributed Formation Control for Heterogeneous Robot Systems Based on Competitive Mechanism"],"prefix":"10.1049","volume":"11","author":[{"given":"Zhenghui","family":"Cui","sequence":"first","affiliation":[{"name":"School of Computer Science and Engineering Sun Yat\u2010sen University  Guangzhou China"}]},{"given":"Xiaoyi","family":"Gu","sequence":"additional","affiliation":[{"name":"Joyo Medtech (Suzhou) Co. 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