Soft Computing

, Volume 20, Issue 1, pp 37–48 | Cite as

Analysis of long-term swarm performance based on short-term experiments

  • Yara KhalufEmail author
  • Mauro Birattari
  • Franz Rammig


Swarm robotics is a branch of collective robotics systems that offers a set of remarkable advantages over other systems. The global behavior of swarm systems emerges from the local rules implemented at the individual level. Therefore, characterizing a global performance obtained at the swarm level is one of the main challenges, especially under complex dynamics such as spatial interferences. In this paper, we exploit the central limit theorem to analyze and characterize the swarm performance over long-term deadlines. The developed model is verified on two tasks: a foraging task and an object filtering task.


Swarm robotics Time-constrained tasks Central limit theorem 


Compliance with ethical standards

Conflict of interest

The authors declare that they have no conflict of interest.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  1. 1.University of PaderbornPaderbornGermany
  2. 2.Université Libre de BruxellesBrusselsBelgium

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