An Approach to Flocking of Robots Using Minimal Local Sensing and Common Orientation

Authors:
Iñaki Navarro;Álvaro Gutiérrez;Fernando Matía;Félix Monasterio-Huelin
Affiliations:
Intelligent Control Group, Universidad Politécnica de Madrid, Madrid, Spain E-28006;Departamento de Tecnologías Especiales Aplicadas a la Telecomunicación, Universidad Politécnica de Madrid, Madrid, Spain E-28040;Intelligent Control Group, Universidad Politécnica de Madrid, Madrid, Spain E-28006;Departamento de Tecnologías Especiales Aplicadas a la Telecomunicación, Universidad Politécnica de Madrid, Madrid, Spain E-28040
Venue:
HAIS '08 Proceedings of the 3rd international workshop on Hybrid Artificial Intelligence Systems
Year:
2008

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Abstract

A new algorithm for the control of robot flocking is presented. Flocks of mobile robots are created by the use of local control rules in a fully distributed way, using just local information from simple infra-red sensors and global heading information on each robot. Experiments were done to test the algorithm, yielding results in which robots behaved as expected, moving at a reasonable velocity and in a cohesive way. Up to seven robots were used in real experiments and up to fifty in simulation.