Modeling Self-Organized Aggregation in Swarm Robotic Systems

Date

2009-04-02

Author

Bayindir, Levent
Şahin, Erol

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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In this paper, we propose a model for the self-organized aggregation of a swarm of mobile robots. Specifically, we use a simple probabilistic finite state automata (PFSA) based aggregation behavior and analyze its performance using both a point-mass and a physics-based simulator and compare the results against the predictions of the model. The results show that the probabilistic model predictions match simulation results and PFSA-based aggregation behaviors with fixed probabilities are unable to generate scalable aggregations in low robot densities. Moreover, we show that the use of a leave probability that is inversely proportional to the square of the neighbor count (as an estimate of aggregate size) does not improve the scalability of the behavior.

Subject Keywords

Predictive models, Robot sensing systems, Aggregates, Mobile robots, Analytical models, Feedback, Robotics and automation, Automata, Performance analysis, Infrared sensors

URI

https://hdl.handle.net/11511/41697

DOI

https://doi.org/10.1109/sis.2009.4937849

Collections

Department of Computer Engineering, Conference / Seminar

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Citation Formats

L. Bayindir and E. Şahin, “Modeling Self-Organized Aggregation in Swarm Robotic Systems,” 2009, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/41697.