Artificial Life and Robotics

, Volume 23, Issue 4, pp 645–650 | Cite as

Casualty-based cooperation in swarm robots

  • Ken SugawaraEmail author
  • Yohei Doi
  • Miki Shishido
Original Article


This paper presents a cooperation of swarm robots based on casualty. The robots are initially placed in a field with a ditch which single robot cannot get across. All robots aim for a common destination. An algorithm for each robot is so simple that some of them are pushed out towards the ditch. The sacrificed robots are left as a part of a bridge. Completed bridge enables the rest to go across the ditch. This phenomenon is considered as an unintentional cooperation. We first show fundamental characteristics of this system investigated by computer simulation. Making mathematical model, we analyze the results obtained by the simulation. We also make small scale robot team and confirm their behavior by experiment.


Casualty-based cooperation Swarm robots Ditch 



This work was supported by a Grant-in-Aid for Scientific Research on Innovative Areas No. 24104005 of The Ministry of Education, Culture, Sports, Science, and Technology, Japan, and JSPS KAKENHI Grant Number 17K00368.


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Copyright information

© ISAROB 2018

Authors and Affiliations

  1. 1.Tohoku Gakuin UniversitySendaiJapan

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