Self-organized flocking with a mobile robot swarm
Proceedings of the 7th international joint 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
Adaptive multi-robot team reconfiguration using a policy-reuse reinforcement learning approach
AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
Effects of Multi-Robot Team Formations on Distributed Area Coverage
International Journal of Swarm Intelligence Research
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This study investigates the pros and cons of flocking in long-range "migration" of mobile robot swarms under the influence of different factors. We present a flocking behavior consisting of three simple behaviors: heading alignment, proximal control, and alignment to the desired homing direction. The behavior drives a flock of robots from one location to another by sensing the magnetic field of the Earth. We propose that four factors influence the accuracy of reaching a particular location with the proposed behavior; namely, averaging through the heading alignment behavior, the noise in sensing the homing direction, the differences in the characteristics of the individuals, and the disturbances caused by proximal control behavior. In a series of systematic experiments conducted with both physical and simulated robots, we evaluate the effects of these factors in the accuracy of long-range "migrations" of flocks.