Nonlinear Dynamics

, Volume 68, Issue 4, pp 555–563 | Cite as

Artemia swarm dynamics and path tracking

  • Mofeed Turky Rashid
  • Mattia FrascaEmail author
  • Abduladhem Abdulkareem Ali
  • Ramzy Salim Ali
  • Luigi Fortuna
  • Maria Gabriella Xibilia
Original Paper


Artemia larvae may show swarming organization under the presence of a light spot, while being insensitive to several other external stimuli. In this paper, the dynamics of the Artemia population in response to this kind of stimuli has been exploited to design a robot moving inside the water and able to lead the direction of the group. The robot therefore implements external leadership, by driving the Artemia population along a set of desired trajectories. Experimental results and simulations based on a model of Artemia motion confirmed the suitability of the approach.


Robotics Collective dynamics Artemia swarming External leadership 


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Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  • Mofeed Turky Rashid
    • 1
  • Mattia Frasca
    • 2
    Email author
  • Abduladhem Abdulkareem Ali
    • 1
  • Ramzy Salim Ali
    • 1
  • Luigi Fortuna
    • 2
  • Maria Gabriella Xibilia
    • 3
  1. 1.Electrical Engineering DepartmentUniversity of BasrahBasrahIraq
  2. 2.Dipartimento di Ingegneria Elettrica Elettronica e InformaticaUniversitá degli Studi di CataniaCataniaItaly
  3. 3.DiSIA, Facoltà di IngegneriaUniversità degli Studi di MessinaMessinaItaly

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