Comparison of Different Cue based Swarm Aggregation Strategies

Date

2014-10-19

Author

Farshad, Arvin
Turgut, Ali Emre
Nicola, Belletto
Yue, Shigang

Metadata

Show full item record

Item Usage Stats

8
views

0
downloads

Cite This

In this paper, we compare different aggregation strategies for cue-based aggregation with a mobile robot swarm. We used a sound source as the cue in the environment and performed real robot and simulation based experiments. We compared the performance of two proposed aggregation algorithms we called as the vector averaging and naive with the state-of-the-art cue-based aggregation strategy BEECLUST. We showed that the proposed strategies outperform BEECLUST method. We also illustrated the feasibility of the method in the presence of noise. The results showed that the vector averaging algorithm is more robust to noise when compared to the naive method.

Subject Keywords

Swarm robotics, Collective behavior, Cue-based aggregation

URI

https://hdl.handle.net/11511/71992
http://apps.webofknowledge.com/full_record.do?product=UA&search_mode=GeneralSearch&qid=32&SID=E15OHmhMPnIIbI3YXrp&page=1&doc=1

Collections

Department of Mechanical Engineering, Conference / Seminar