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Go to Editorial ManagerMany applications consider floating point arithmetic as a key component of the computations. Combined decimal/binary arithmetic becomes an important topic supports high speed decimal/binary applications. A new 64-bit (16×16 digit) combined decimal/binary multiplier is proposed and implemented in this work that can be used for both fused multiply add (FMA) and multiplier unit. A new partial products reduction tree is shared between decimal and binary multiplier unit. The valuation and comparison result between the proposed multiplier and the previous most recent works shows 4.66 % less delay than combined decimal/binary multiplier and 19.33 % less delay than fastest standalone decimal multiplier.
Formation control is a critical task in the coordination of multi-mobile robot systems operating in structured environments with limited local knowledge and low-cost hardware. Achieving reliable formations requires effective localization, path planning, and obstacle avoidance capabilities. This study presents a static strategy for forming polygon-shaped configurations using multiple mobile robots. The proposed strategy improves formation efficiency by employing a cluster matching algorithm instead of the conventional triangulation approach to complete the formation process. In addition, the visibility binary tree algorithm and the reciprocal orientation algorithm are integrated to enhance robot coordination and spatial awareness. Simulation results demonstrate that the proposed strategy achieves superior performance in multi-robot formation tasks, offering improved efficiency and robustness compared with traditional triangulation-based methods.