**:** . .,

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**:**
**:** 58
**:**
**:** 2015
**:** . ., . ., . . / . 58. .: , 2015. .285-305.

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** (.):** robot swarm, topological robotics, surface imitation, group control, unmanned vehicles, robotic systems

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** (.):** An algorithm of control and navigation for a swarm of autonomous homogeneous mobile robots involved in the formation of a convex space surface is discussed. Robot trajectories during reconfiguration minimize the cost of time and energy (computation time and the total length of robot paths), taking into account collision control. The developed algorithm has quadratic computational complexity. During the experiments reconfiguration of a swarm with various numbers of robots (from 10 to 10,000 robots) was modeled. The number of collisions was evaluated assuming massed start of all robots.

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