Collective robot navigation using diffusion limited aggregation

Authors:
Jonathan Mullins;Bernd Meyer;Aiguo Patrick Hu
Affiliations:
Centre for Research in Intelligent Systems, Monash University, Australia;Centre for Research in Intelligent Systems, Monash University, Australia;Department of Electrical and Computer Engineering, University of Auckland, New Zealand
Venue:
PPSN'12 Proceedings of the 12th international conference on Parallel Problem Solving from Nature - Volume Part II
Year:
2012

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Abstract

Many applications of swarm robotics require autonomous navigation in unknown environments. We describe a new collective navigation strategy based on diffusion limited aggregation and bacterial foraging behaviour. Both methods are suitable for typical swarm robots as they require only minimal sensory and control capabilities. We demonstrate the usefulness of the strategy with a swarm that is capable of autonomously finding charging stations and show that the collective search can be significantly more effective than individual-based search.