Self-organized flocking with a mobile robot swarm

2008-01-01
This paper studies self-organized flocking in a swarm of mo- bile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies, briefly de- scribing its sensing and communication abilities. In particular, we describe a scalable method that allows the robots to sense the orientations of their neighbors using a digital compass and wireless communication. Then we propose a behavior for a swarm of robots that creates self-organized flocking by using heading alignment and proximal control. The flocking behavior is observed to operate in three phases: alignment, advance, and avoidance. We evaluate four variants of this behavior by setting its parameters to extreme values and analyze the performance of flocking using a number of metrics, such as order and entropy. Our results show that, the flocking behavior obtained under appropriate parameter values, is quite robust and generates successful self- organized flocking in constraint environments.
7th International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS ,2-16 May 2008

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Citation Formats
A. E. Turgut, F. Gökçe, and E. Şahin, “Self-organized flocking with a mobile robot swarm,” Estoril; Portugal, 2008, vol. 1, p. 40, Accessed: 00, 2021. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84899967609&origin=inward.