Probabilistic aggregation strategies in swarm robotic systems

Date

2005-06-10

Author

Soysal, O
Şahin, Erol

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In this study, a systematic analysis of probabilistic aggregation strategies in swarm robotic systems is presented. A generic aggregation behavior is proposed as a combination of four basic behaviors: obstacle avoidance, approach, repel, and wait. The latter three basic behaviors are combined using a three-state finite state machine with two probabilistic transitions among them. Two different metrics were used to compare performance of strategies. Through systematic experiments, how the aggregation performance, as measured by these two metrics, change 1) with transition probabilities, 2) with number of simulation steps, and 3) with arena size, is studied.

Subject Keywords

Behaviors

URI

https://hdl.handle.net/11511/56068

Conference Name

IEEE Swarm Intelligence Symposium

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Department of Computer Engineering, Conference / Seminar

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Citation Formats

O. Soysal and E. Şahin, “Probabilistic aggregation strategies in swarm robotic systems,” presented at the IEEE Swarm Intelligence Symposium, Pasadena, CA, 2005, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/56068.