A navigation algorithm for swarm robotics inspired by slime mold aggregation

Authors:
Thomas Schmickl;Karl Crailsheim
Affiliations:
Department for Zoology, Karl-Franzens-University Graz, Graz, Austria;Department for Zoology, Karl-Franzens-University Graz, Graz, Austria
Venue:
SAB'06 Proceedings of the 2nd international conference on Swarm robotics
Year:
2006

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Abstract

This article presents a novel bio-inspired navigation principle for swarm robotics that is based on a technique of signal propagation that was inspired by slime mold. We evaluated this strategy in a variety of simulation experiments that simulates a collective cleaning scenario. This scenario includes several sub-tasks like exploration, information propagation and path finding. Using the slime mold-inspired strategy, the simulated robots successfully performed a collective cleaning scenario and showed the ability of finding the shortest path between two target places. Finally, the parameters of the strategy were optimized by artificial evolution and the discovered optima are discussed.