Deniz Özsoyeller2025-10-062025979833151088610.1109/ICHORA65333.2025.11017231https://www.scopus.com/inward/record.uri?eid=2-s2.0-105008423085&doi=10.1109%2FICHORA65333.2025.11017231&partnerID=40&md5=8156bdf44a767b77900532b7da056fbchttps://gcris.yasar.edu.tr/handle/123456789/8098In this paper we study the connected multi-robot team formation problem. We consider the settings where multiple aerial and ground robots with limited communication ranges are operating in an unbounded environment. The ground robots do not have a priori knowledge about the initial locations of each other and the aerial robots. Moreover the aerial robots do not know the initial locations of the ground robots in advance. Our goal is to divide the robots into teams as quickly as possible by relocating them. Each team should be of same size and include one aerial robot assigned to it as its leader and the final configurations of the robots in each team should form a fully connected network topology. To solve this problem we present an algorithm that combines distributed coordination and online planning of the robots. We evaluate the performance of the proposed algorithm in simulations. © 2025 Elsevier B.V. All rights reserved.EnglishDistributed Robot Systems, Multi-robot Systems, Multi-robot Teams, Team Formation, Antennas, Industrial Robots, Intelligent Robots, Problem Solving, Robot Learning, Robot Operating System, Robot Programming, Aerial Robots, Distributed Robot Systems, Fully Connected Networks, Ground Robot, Limited Communication Range, Multi-robot Systems, Multi-robot Teams, Network Topology, Priori Knowledge, Team Formation, Multipurpose RobotsAntennas, Industrial robots, Intelligent robots, Problem solving, Robot learning, Robot Operating System, Robot programming, Aerial robots, Distributed robot systems, Fully connected networks, Ground robot, Limited communication range, Multi-robot systems, Multi-robot teams, Network topology, Priori knowledge, Team formation, Multipurpose robotsConference Object