Chapter

Knowledge Technology

Volume 295 of the series Communications in Computer and Information Science pp 113-122

Implementation of a Cue-Based Aggregation with a Swarm Robotic System

  • Farshad ArvinAffiliated withComputer Systems Research Group, Faculty of Engineering, University Putra Malaysia, UPM
  • , Shyamala C. DoraisamyAffiliated withDepartment of Multimedia, Faculty of Computer Science & Information Technology, University Putra Malaysia, UPM
  • , Khairulmizam SamsudinAffiliated withComputer Systems Research Group, Faculty of Engineering, University Putra Malaysia, UPM
  • , Faisul Arif AhmadAffiliated withComputer Systems Research Group, Faculty of Engineering, University Putra Malaysia, UPM
  • , Abdul Rahman RamliAffiliated withIntelligent Systems & Robotic Lab., Institute of Advanced Technology, University Putra Malaysia, UPM

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Abstract

This paper presents an aggregation behavior using a robot swarm. Swarm robotics takes inspiration from behaviors of social insects. BEECLUST is an aggregation control that is inspired from thermotactic behavior of young honeybees in producing clusters. In this study, aggregation method is implemented with a modification on original BEECLUST. Both aggregations are performed using real and simulated robots. We aim to demonstrate that, a simple change in control of individual robots results in significant changes in collective behavior of the swarm. In addition, the behavior of the swarm is modeled by a macroscopic modeling based on a probability control. The presented model in this study could depict the behavior of swarm throughout the performed scenarios with real and simulated robots.

Keywords

Swarm Robotics Aggregation Collective Behavior Modeling