Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Self-Organization in Biological Systems
Self-Organization in Biological Systems
Interaction and intelligent behavior
Interaction and intelligent behavior
Distributed, Physics-Based Control of Swarms of Vehicles
Autonomous Robots
2.5D infrared range and bearing system for collective robotics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Negotiation of goal direction for cooperative transport
ANTS'06 Proceedings of the 5th international conference on Ant Colony Optimization and Swarm Intelligence
Self-organized flocking with a mobile robot swarm: a novel motion control method
Adaptive Behavior - Animals, Animats, Software Agents, Robots, Adaptive Systems
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We propose a novel communication strategy inspired by explicit signaling mechanisms seen in vertebrates, in order to improve performance of self-organized flocking for a swarm of mobile robots. The communication strategy is used to make the robots match each other's headings. The task of the robots is to coordinately move towards a common goal direction, which might stay fixed or change over time. We perform simulation-based experiments in which we evaluate the accuracy of flocking with respect to a given goal direction. In our settings, only some of the robots are informed about the goal direction. Experiments are conducted in stationary and non-stationary environments. In the stationary environment, the goal direction and the informed robots do not change during the experiment. In the non-stationary environment, the goal direction and the informed robots are changed over time. In both environments, the proposed strategy scales well with respect to the swarm size and is robust with respect to noise.