Self-organized flocking with a mobile robot swarm

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Self-organized flocking with a mobile robot swarm
This paper studies self-organized flocking in a swarm of mobile robots. We present Kobot, a mobile robot platform developed specifically for swarm robotic studies, briefly describing 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 selforganized flocking in constraint environments. Categories and ...
Ali Emre Turgut, Hande Çelikkanat, Fatih G&
Added 12 Oct 2010
Updated 12 Oct 2010
Type Conference
Year 2008
Where ATAL
Authors Ali Emre Turgut, Hande Çelikkanat, Fatih Gökçe, Erol Sahin
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