An algorithm for robot formation path planning is presented in this paper.\nGiven a map of the working environment, the algorithm finds a path for a\nformation taking into account possible split of the formation and its\nconsecutive merge. The key part of the solution works on a graph and\nsequentially employs an extended version of Dijkstra's graph-based algorithm\nfor multiple robots. It is thus deterministic, complete, computationally\ninexpensive, and finds a solution for a fixed source node to another node in…