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First, the formation-based multi-resolution models of swarm robots are presented and the formation attribute-based consistency mapping functions are designed. Then, obstacle avoidance behavior based on aggregation and disaggregation method is presented and the basic obstacle avoidance behaviors are designed. Finally, the simulation results are presented to show the feasibility of the proposed method.<\/jats:p>","DOI":"10.1177\/0037549717711281","type":"journal-article","created":{"date-parts":[[2017,6,7]],"date-time":"2017-06-07T08:29:50Z","timestamp":1496824190000},"page":"885-898","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":5,"title":["Obstacle avoidance behavior of swarm robots based on aggregation and disaggregation method"],"prefix":"10.1177","volume":"93","author":[{"given":"Yue","family":"Yu","sequence":"first","affiliation":[{"name":"School of Computer Science, Beijing Institute of Technology, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiangru","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Computer Science, Beijing Institute of Technology, 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