Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Interaction and intelligent behavior
Interaction and intelligent behavior
Coordination without communication: the case of the flocking problem
Discrete Applied Mathematics - Fun with algorithms 2 (FUN 2001)
Modeling Phase Transition in Self-organized Mobile Robot Flocks
ANTS '08 Proceedings of the 6th international conference on Ant Colony Optimization and Swarm Intelligence
Proceedings of The 8th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
The pros and cons of flocking in the long-range “migration” of mobile robot swarms
Theoretical Computer Science
Fault-tolerant flocking for a group of autonomous mobile robots
Journal of Systems and Software
A Self-adaptive Framework for Modular Robots in a Dynamic Environment: Theory and Applications
International Journal of Robotics Research
Effects of Multi-Robot Team Formations on Distributed Area Coverage
International Journal of Swarm Intelligence Research
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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 self-organized flocking in constraint environments.