Soft Computing

, Volume 22, Issue 6, pp 1833–1844 | Cite as

Morphogen diffusion algorithms for tracking and herding using a swarm of kilobots

  • Hyondong Oh
  • Ataollah R. Shiraz
  • Yaochu Jin
Methodologies and Application


This paper investigates self-organised collective formation control using swarm robots. In particular, we focus on collective tracking and herding using a large number of very simple robots. To this end, we choose kilobots as our swarm robot test bed due to its low cost and attractive operational scalability. Note, however, that kilobots have extremely limited locomotion, sensing and communication capabilities. To handle these limitations, a number of new control algorithms based on morphogen diffusion and network connectivity preservation have been suggested for collective object tracking and herding. Numerical simulations of large-scale swarm systems as well as preliminary physical experiments with a relatively small number of kilobots have been performed to verify the effectiveness of the proposed algorithms.


Swarm robotics Object tracking Morphogen diffusion Network connectivity preservation Kilobots 


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 2016

Authors and Affiliations

  1. 1.Department of Aeronautical and Automotive EngineeringLoughborough UniversityLoughboroughUK
  2. 2.Department of Computer ScienceUniversity of SurreyGuildfordUK

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