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Self-organized flocking with a mobile robot swarm
Date
2008-01-01
Author
Turgut, Ali Emre
Gökçe, Fatih
Şahin, Erol
Metadata
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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.
Subject Keywords
Flocking
,
Self-organization
,
Swarm robotics
,
Mobile robot swarms
URI
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84899967609&origin=inward
https://hdl.handle.net/11511/81548
Conference Name
7th International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS ,2-16 May 2008
Collections
Department of Mechanical Engineering, Conference / Seminar
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In this paper, we study self-organized flocking in a swarm of mobile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies. We describe its infrared-based short range sensing system, capable of measuring the distance from obstacles and detecting kin robots, and a novel sensing system called the virtual heading system (VHS) which uses a digital compass and a wireless communication module for sensing the relative headings of neighboring robots. We propose a behavi...
DEVELOPMENT OF A SOCIAL REINFORCEMENT LEARNING BASED AGGREGATION METHOD WITH A MOBILE ROBOT SWARM
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Self-organized flocking with a mobile robot swarm
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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.
