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Group-Size Regulation in Self-organized Aggregation in Robot Swarms

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Swarm Intelligence (ANTS 2020)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 12421))

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Abstract

In swarm robotics, self-organized aggregation refers to a collective process in which robots form a single aggregate in an arbitrarily chosen aggregation site among those available in the environment, or just in an arbitrarily chosen location. Instead of focusing exclusively on the formation of a single aggregate, in this study we discuss how to design a swarm of robots capable of generating a variety of final distributions of the robots to the available aggregation sites. We focus on an environment with two possible aggregation sites, A and B. Our study is based on the following working hypothesis: robots distribute on site A and B in quantities that reflect the relative proportion of robots in the swarm that selectively avoid A with respect to those that selectively avoid B. This is with an as minimal as possible proportion of robots in the swarm that selectively avoid one or the other site. We illustrate the individual mechanisms designed to implement the above mentioned working hypothesis, and we discuss the promising results of a set of simulations that systematically consider a variety of experimental conditions.

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Author information

Authors and Affiliations

  1. Department of Computer Science, University of Namur, Namur, Belgium

    Ziya Firat, Judhi Prasetyo & Elio Tuci

  2. Vrije Universiteit Amsterdam, Amsterdam, The Netherlands

    Eliseo Ferrante

  3. Technology Innovation Institute, Masdar City, Abu Dhabi, United Arab Emirates

    Eliseo Ferrante

  4. Middlesex University Dubai, Dubai, United Arab Emirates

    Raina Zakir & Judhi Prasetyo

Authors
  1. Ziya Firat
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  2. Eliseo Ferrante
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  3. Raina Zakir
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  4. Judhi Prasetyo
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  5. Elio Tuci
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Corresponding author

Correspondence to Elio Tuci .

Editor information

Editors and Affiliations

  1. Université Libre de Bruxelles, Brussels, Belgium

    Marco Dorigo

  2. Université Libre de Bruxelles, Brussels, Belgium

    Thomas Stützle

  3. Universitat Politècnica de Catalunya, Barcelona, Spain

    Maria J. Blesa

  4. Artificial Intelligence Research Institute, Bellaterra, Spain

    Christian Blum

  5. University of Lübeck, Lübeck, Germany

    Heiko Hamann

  6. Université Libre de Bruxelles, Brussels, Belgium

    Mary Katherine Heinrich

  7. Université Libre de Bruxelles, Brussels, Belgium

    Volker Strobel

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Firat, Z., Ferrante, E., Zakir, R., Prasetyo, J., Tuci, E. (2020). Group-Size Regulation in Self-organized Aggregation in Robot Swarms. In: Dorigo, M., et al. Swarm Intelligence. ANTS 2020. Lecture Notes in Computer Science(), vol 12421. Springer, Cham. https://doi.org/10.1007/978-3-030-60376-2_26

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  • DOI: https://doi.org/10.1007/978-3-030-60376-2_26

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-60375-5

  • Online ISBN: 978-3-030-60376-2

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