The 4 Step Creation Method is a method for systematic new development. It promotes creativity in interdisciplinary teams and provides a framework for cooperation so that original innovations can emerge. At the same time, the method can be used for the continuous improvement of existing systems.

This animation displays a leader always located at formation center and follows a desired trajectory (solid cyan line), and followers track it with the required formations. Because the robots are moving, a consensus on orientation is achieved. It also shows the robots' orientation during the journey, and at every formation reference change, the orientations converge.