phi Clust: Pheromone-based Aggregation for Robotic Swarms

Date

2018-10-05

Author

Arvin, Farshad
Turgut, Ali Emre
Krajnik, Tomas
Rahimi, Salar
Okay, Ilkin Ege
Yue, Shigang
Watson, Simon
Lennox, Barry

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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 proposed a pheromone-based aggregation method based on the state-of-the-art BEECLUST algorithm. We investigated the impact of pheromone-based communication on the efficiency of robotic swarms to locate and aggregate at areas with a given cue. In particular, we evaluated the impact of the pheromone evaporation and diffusion on the time required for the swarm to aggregate. In a series of simulated and real-world evaluation trials, we demonstrated that augmenting the BEECLUST method with artificial pheromone resulted in faster aggregation times.

Subject Keywords

Bio-inspired, Pheromone, Swarm Robotics, Aggregation

URI

https://hdl.handle.net/11511/54161

Collections

Department of Mechanical Engineering, Conference / Seminar

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Citation Formats

F. Arvin et al., “phi Clust: Pheromone-based Aggregation for Robotic Swarms,” 2018, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/54161.